Akín H.L., Topalov A., Kaynak O. (2002) Cerberus 2001 Team Description. In: Birk A., Coradeschi S., Tadokoro S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science, vol 2377. Springer, Berlin, Heidelberg
Cerberus is one of the four new teams in the RoboCup Tournament, Legged Robot Category. The team is a joint effort of Boğaziçi University (Turkey) and Technical University of Sofia, Branch Plovdiv (Bulgaria). We have divided the robot software design into six major tasks, and worked on those tasks in parallel. The tasks were locomotion, localization, vision, behavior control, learning and communication. With limited time in our hands, our aims were a clear object oriented design, readable behavior architecture, and maximum code reuse.