Adaptive Methods to Improve Self-Localization in Robot Soccer

Abstract

This paper shows adaptive strategies to improve the reliability and performance of self-localization in robot soccer with legged robots. Adaptiveness is the common feature of the presented algorithms and has proved essential to enhance the quality of localization by a new classi cation technique, essential to increase the con dence level of internal information about the environment by extracting reliability information and by communicating them via parameterizable acoustic communication, and essential to circumvent manual implementations of walking patterns by evolving them automatically.