Agilo RoboCuppers: RoboCup Team Description

This paper describes the Agilo RoboCuppers1 team of the image understanding group (FG BV) at the Technische UniversitatMunchen. With a team of four Pioneer 1 robots, equipped with CCD camera and a single board computer each and coordinated by a master PC outside the field we participate in the Middle Size League of the fourth international RoboCup Tournament in Melbourne 2000. We use a multi-agent based approach to represent different robots and to encapsulate concurrent tasks within the robots. A fast feature extraction based on the image processing library HALCON provides the data necessary for the on-board scene interpretation. All robot observations are fused to one single consistent view. Decision making is done on this fused data.