B-Human 2011 - Eliminating Game Delays

After having won the Standard Platform League competitions in 2009 and 2010, the B-Human software already included sophisticated solutions for most relevant subtasks, such as vision, state estimation, and walking. Therefore, the development towards RoboCup 2011 did not focus on replacing specific low-quality components, but was guided by an overall goal: eliminating game delays by more efficient actions and faster reactions to game state changes. This required several changes all over the system. In this paper, we present some of the developments that had the most impact regarding our goal: different ball models and corresponding cooperative ball tracking and retrieval strategies, a path planner as well as new approaches for tackling situations.

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