A cooperative micro robot system playing soccer: Design and implementation

Abstract

A cooperative multi-robot soccer team is designed and implemented. Three soccer playing robots are implemented within a cube (3 in. in each dimension), along with a host computer capable of coordination commanding using a new vision system. We proposed a ratiometric RGB filter to improve robustness under real lighting condition with less computational burden of transformation. An efficient architecture is presented for cooperation strategy of our soccer robots based on subsumption architecture, and motor schema is used for layered design.