CAMBADA Soccer Team: from Robot Architecture to Multiagent Coordination

Abstract

This chapter presented the new advances in several areas that involves the development of an MSL team of soccer robots, namely the mechanical structure of the robot, its hardware architecture and controllers, the software development in areas such as image processing, sensor and information fusion, reasoning and control, cooperative sensing approach, communications among robots and some other auxiliary software. The CAMBADA soccer robots have a hierarchical distributed hardware architecture with a central computer to carry out vision sensing, global coordination and deliberative functions and a low-level distributed sensing and actuation system based on a set of simple microcontroller nodes interconnected with a Controller Area Network (CAN). The advantages of