| Abstract: |
This paper describes the layered and modular hard- and software
architecture of autonomously soccer playing robots used in the Dutch F2000
Robot Soccer Team from the University of Amsterdam, Delft University of
Technology, Vrije Universiteit Amsterdam and the University of Utrecht.
The robot system is described with its ball kicking mechanism and the hardware
architecture is described with in detail its optional real-time image processor.
The software architecture is presented and its functional modules are described.
With this proposed architecture we attempt to merge the distributed computing
aspect of real-world intelligent autonomous soccer robots, with the client-server
approach of a the soccer simulator. With the real-time imaging system we
hope to overcome severe loss of the ball, so we can play the Dutch favorite
form of the soccer game: Clockwork Orange, i.e. playing the ball around
with single ball contacts only. |