Agilo RoboCuppers: RoboCup Team Description

This paper describes the Agilo RoboCuppers - the RoboCup team of the image understanding group (FG BV) at the Technische Universität München. With a team of five Pioneer 1 robots, equipped with CCD camera and a single board computer each and coordinated by a master PC outside the field we participate in the Middle Robot League of the Third International Workshop on RoboCup in Stockholm 1999. We use a multi-agent based approach to represent different robots and to encapsulate concurrent tasks within the robots. A fast feature extraction based on the image processing library HALCON provides the data necessary for the onboard scene interpretation. In addition, these features as well as the odometric data of the robots are sent over the net to the master PC, where they are verified with regard to consistency and plausibility and fusioned to one global view of the scene. The results are distributed to all robots supporting their local planning modules. This data is also used by the global planning module coordinating the team’s behaviour.