CMUnited: A Team of Robotic Soccer Agents Collaborating in an Adversarial Environment

Robotic soccer involves multiple agents that need to collaborate in an adversarial environment to achieve speciic objectives. In this paper, we describe the robotic agents and architecture that we have developed to enter RoboCup-97. The framework integrates high-level and low-level reasoning as an overall wireless communication system of small-size robots, an overhead vision camera for perception , a centralized interface computer, and several clients as the minds of the robot players. We present the mobile robot platform speciica-tions, the diierent communication servers and links, the vision processing algorithm, and the control code that enables strategic collaboration between teammates.