Developing soccer-playing robots based on the centralized approach

This paper presents the design procedure for soccer-playing robots based on the centralized approach. Using a fast Vision system, we obtain the config uration of each robot, then the host computer computes the desired motion a nd commands each robot directly via RF communication. The robot soccer game has a lot of challenging problems such as coordination between robots, mot ion planning of robots, visual recognition of objects, and so on. To implem ent such functions, we think that the centralized approach may be more powe rful than the distributed approach. We describe the technical tips for deve loping the robots in detail here and explain our strategy for getting the s cores.