This paper describes the CMUnited-99 small-size robot team. The team builds on our previous RoboCup champion teams (97 and 98). The team reuses much of the hardware; perception; and strategy software from CMUnited-98. This description summarizes some of the features from past teams that are used in CMUnited-99. It focuses on our robust motion control algorithm and the teams individual and team behaviors. We conclude with the extensions planned for CMUnited-99.