Communication-Less Cooperation Between Soccer Robots

This paper focuses on communication-less multi-robot cooperation, particularly, we present our research results on ball passing between MSL soccer robots without communication. Under this condition, the robots cannot share localization with teammates using wireless communication. Therefore, a novel method of color recognition is applied to recognize and localize the other robots. According to the positions of the teammates and obstacles, the robot that dribbles will find the best point for passing and the other robot will adjust its position and state for receiving. Two experiments are designed to test the localization accuracy with the front camera system. Finally, the method is evaluated under the 2015 MSL technique challenge rule, which proves the effectively of the proposed method.