ROBOT SOCCER PLAYERS
The soccer matches were played by two teams, each consisting of three robots. The duration of the game was two equal periods of 5 minutes each. The size of each robot was limited to a cube 7,5 cm side playing on a dark green field of dimension 130 cm X 90 cm, using a orange golf ball. Each robot was fully independent, with power and motor self-contained. A video camera was mounted above the soccer field and viewed the whole game area. Rectangular markers on each robot described their position and orientation. A computer was used to analyse the images, extract the robots positions and processed the strategy. Orders were then sent to the soccer players using a wireless connection.
A Fast Vision System for Mobile Soccer Robots