CMDragons 2009 Extended Team Description

In this paper we present an overview of CMDragons 2009, Carnegie Mellon's entry for the RoboCup Small Size League. Our team builds upon the research and success of RoboCup entries in previous years. Our team's success can be contributed to a well-balanced combi- nation of sophisticated robot hardware and a layered, intelligent software architecture consisting of computer vision, multi-robot play selection, as well as single robot tactics and navigation.

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