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by Andreas Birk, Holger Kenn, Thomas Walle
Advanced Robotics Journal, 14(1):27
http://arti.vub.ac.be/~cyrano/PUBLICATIONS/arj_rcup.ps.gz
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Abstract:
We present the most recent version of our RoboCube system, a special robotcontroller hand-tailored for players in the small robots league. The RoboCube is conceptualized to implement players with as many on-board features as possible in an extremely flexible way. For this purpose, the RoboCube provides quite some computation power and memory as well as a multitude of I/O-interfaces within the spaceconstraints. As it facilitates the use of many sensors and effectors, including their on-board processing, the RoboCube allows to explore a large space of different robots and team set-ups. In addition to the basic system, we present the option to enhance RoboCube with high-resolution color vision to a so-called VisionCube. In doing so, we exploit the possibilities of a completely new technology in imaging based on C-MOS chips. Among other advantages, the particular imager used in our design allows a selective read-out of pixels. Unlike CCDs where a complete frame has to be read, the VisionCube can read subsets of the 512\Theta512 colored pixels of its imager in an extremely fast way. This makes it feasible to explore the challenging option of local vision with on-board processing. 1
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