Dokumentenserver der Freien Universität Berlin


The soul of a new machine
Ackers, Peter ;  Behnke, Sven ;  Frötschl, Bernhard ;  Lindstrot, Wolf ;  Melo, Manuel de ;  Rojas, Raúl ;  Schebesch, Andreas ;  Simon, Mark ;  Sprengel, Martin ;  Tenchio, Oliver ;  Universität <Berlin, Freie Universität> / Fachbereich Mathematik und Informatik

Main titleThe soul of a new machine
Subtitlethe soccer robot team of the FU Berlin
AuthorAckers, Peter
AuthorBehnke, Sven
AuthorFrötschl, Bernhard
AuthorLindstrot, Wolf
AuthorMelo, Manuel de
AuthorRojas, Raúl
AuthorSchebesch, Andreas
AuthorSimon, Mark
AuthorSprengel, Martin
AuthorTenchio, Oliver
InstitutionUniversität <Berlin, Freie Universität> / Fachbereich Mathematik und Informatik
No. of Pages25 S.
Series Freie Universität Berlin, Fachbereich Mathematik und Informatik : Ser. B, Informatik ; 99,12
Classification (DDC)006 Special computer methods
790 Recreational and performing arts
AbstractThis paper describes the hardware and software of the robotic soccer
team built at the Freie Universit├Ąt Berlin which took part in the 1999 RoboCup
Championship in Stockholm, Sweden. Our team, the FUFighters, consists of five
robots of less than 18 cm horizontal cross-section. Four of the robots have the
same mechanical design, while the goalie is slightly different. All the hardware
was designed and assembled at the FU Berlin. The paper describes the hierarchical
control architecture used to generate the behavior of individual agents and the
whole team. Our reactive approach is based on the dual dynamics framework proposed
by J├Ąger, but extended with a third module of sensor readings. Fast changing
sensors are aggregated in time to form slowly changing percepts in a temporal
resolution hierarchy. We describe the main blocks of the software and their interactions.
If your browser can't open the file, please download the file first and then open it
FU DepartmentDepartment of Mathematics and Computer Science
Other affiliation(s)Institut für Informatik
Year of publication1999
Type of documentMaps
Terms of use/Rights Nutzungsbedingungen
Created at2010-02-04 : 04:50:46
Last changed2014-01-23 : 04:21:38
Static URL