CMDragons 2007 Team Description

We provide an overview of the robotic soccer team CMDragons 2007, as well as some technical highlights represented in this year’s system. CMDragons 2007 is the Carnegie Mellon entry for the RoboCup Small-Size League, and builds on our competitive teams fielded in the last several years. The overview describes both the robot hardware and the general software architecture of our team. Significant technical improvements include one-touch shot aiming, and a new navigational planner.

[1]  Manuela Veloso,et al.  Real-time motion planning and safe navigation in dynamic multi-robot environments , 2006 .

[2]  Manuela M. Veloso,et al.  Fast and accurate vision-based pattern detection and identification , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[3]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[4]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[5]  Brett Browning,et al.  Multi-robot team response to a multi-robot opponent team , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[6]  Brett Browning,et al.  STP: Skills, tactics, and plays for multi-robot control in adversarial environments , 2005 .

[7]  Brett Browning,et al.  Plays as Effective Multiagent Plans Enabling Opponent-Adaptive Play Selection , 2004, ICAPS.

[8]  Manuela Veloso,et al.  Safe Multirobot Navigation Within Dynamics Constraints In fast robot soccer games, teams play without any human input, avoiding collisions and obstacles and coordinating action to implement team strategy and tactics. , 2006 .

[9]  Wolfram Burgard,et al.  The dynamic window approach to collision avoidance , 1997, IEEE Robotics Autom. Mag..

[10]  Oliver Brock,et al.  High-speed navigation using the global dynamic window approach , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[11]  Manuela M. Veloso,et al.  Real-Time Randomized Path Planning for Robot Navigation , 2002, RoboCup.

[12]  Yongduek Seo,et al.  Physics-based 3D position analysis of a soccer ball from monocular image sequences , 1998, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271).