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@InCollection(LNAI98-robot,
        Author="Manuela Veloso and Michael Bowling and Sorin Achim and Kwun Han and Peter Stone",
        Title="The {CMU}nited-98 Champion Small Robot Team",
        booktitle= "{R}obo{C}up-98: Robot Soccer World Cup {II}",
        Editor="Minoru Asada and Hiroaki Kitano",
        series="Lecture Notes in Artificial Intelligence",      
	volume="1604",
	pages="77--92",
        Publisher="Springer Verlag",address="Berlin",year="1999",
        abstract={
                  In this chapter, we present the main research
                  contributions of our champion CMUnited-98 small
                  robot team. The team is a multiagent robotic system
                  with global perception, and distributed cognition
                  and action. We describe the main features of the
                  hardware design of the physical robots, including
                  differential drive, robust mechanical structure, and
                  a kicking device. We briefly review the CMUnited-98
                  global vision processing algorithm, which is the
                  same as the one used by the previous champion
                  CMUnited-97 team. We introduce our new robot motion
                  algorithm which reactively generates motion control
                  to account for the target point, the desired robot
                  orientation, and obstacle avoidance. Our robots
                  exhibit successful collision-free motion in the
                  highly dynamic robotic soccer environment. At the
                  strategic and decision-making level, we present the
                  role-based behaviors of the CMUnited-98 robotic
                  agents. Team collaboration is remarkably achieved
                  through a new algorithm that allows for team agents
                  to anticipate possible collaboration
                  opportunities. Robots position themselves
                  strategically in open positions that increase
                  passing opportunities.  The chapter terminates with
                  a summary of the results of the RoboCup-98 games in
                  which the CMUnited-98 small robot team scored a
                  total of 25 goals and suffered 6 goals in the 5
                  games that it played.
                  },
)