CMU Hammerheads 2001 Team Description
Abstract
In this paper the design of the CMU Hammerhead middle-size robot soccer team is presented. The team consisted of 4 fully autonomous robots with wireless communication and color vision. The robots’ color segmentation algorithm, CMVision, provided reliable, real-time ball tracking and was tolerant to changes in lighting conditions. The robots’ software architecture was implemented using TeamBots, a Java-based environment for behavior based robot control, and Clay, a TeamBots module for creating motor-schema based control systems. The use of behavior-based control allowed to the robots to react quickly to the dynamic environment despite non-holonomic platforms. The team included some team- work by sharing information about the ball’s location and the states of other team members. The CMU Hammerheads made it to the quarter finals of the competition.
BibTeX
@incollection{Stancliff-2002-16858,author = {Stephen B. Stancliff and Ravi Balasubramanian and Tucker Balch and Rosemary Emery-Montemerlo and Kevin Sikorski and Ashley Stroupe},
title = {CMU Hammerheads 2001 Team Description},
booktitle = {RoboCup 2001: Robot Soccer World},
publisher = {Springer},
address = {New York},
editor = {A. Birk, S. Coradeschi and S. Tadokoro},
year = {2002},
month = {June},
pages = {631-634},
keywords = {robot soccer, multirobot},
}