Abstract

In this chapter, we present the main research contributions of our champion CMUnited-98 small robot team. The team is a multiagent robotic system with global perception, and distributed cognition and action. We describe the main features of the hardware design of the physical robots, including differential drive, robust mechanical structure, and a kicking device. We briefly review the CMUnited-98 global vision processing algorithm, which is the same as the one used by the previous champion CMUnited-97 team. We introduce our new robot motion algorithm which reactively generates motion control to account for the target point, the desired robot orientation, and obstacle avoidance.

Citations