Robotic Soccer involves multiple agents that need to collaborate in an adversarial environment to achieve specific objectives. We have been building an architecture that addresses this integration of high-level and low-level reasoning as a combined system of mini-robots, a camera for perception, a centralized interface computer, and several client servers as the minds of the mini-robot players. In this paper we focus on the hardware design of our mini-robots. Our main purpose is to provide a detailed description of our design decisions so that others may learn from and replicate our efforts. Communication between the interface computer and the mini-robots is achieved through coded infrared radiation. The mini-robots can turn on the spot and move forward and backward with variable speed. Our design also allows a well-balanced use of the on-board power and current supplies.

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In Proceedings of the IROS-96 Workshop on RoboCup, pp. 41-48, Osaka, Japan, November 1996.

@InProceedings{IROS96, title={Building a Dedicated Robotic Soccer System}, author={Sorin Achim and Peter Stone and Manuela Veloso}, booktitle={Proceedings of the IROS-96 Workshop on RoboCup}, month={November}, address={Osaka, Japan}, pages={41-48}, url="http://www.cs.utexas.edu/users/ai-lab?IROS96", year={1996} }