The RoboFlag testbed

Abstract

This paper describes the RoboFlag hardware/software testbed. The RoboFlag game consists of two teams of 6-10 robots and 2 people, each attempting to capture the other teams flag while defending their own. Limited sensing capability, distributed processing, and limited bandwidth communications are integral parts of the system. The game can be played with real robots or with simulated robots. Some aspects of the game, such as the arbiter and communications network, are completely simulated.