RoboCup 2000: Robot Soccer World Cup IV

Volume 2019 of the series Lecture Notes in Computer Science pp 41-51


The Cornell Robocup Team

  • Raffaello D’AndreaAffiliated withSibley School of Mechanical and Aerospace Engineering
  • , Tamás Kalmár-NagyAffiliated withDepartment of Theoretical and Applied Mechanics
  • , Pritam GangulyAffiliated withDepartment of Theoretical and Applied Mechanics
  • , Michael BabishAffiliated withDepartment of Computer Science

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This paper describes the Cornell Robocup Team, which won the RoboCup-2000 F180 championship in Melbourne, Australia. The success of the team was due to electro-mechanical innovations (omnidirectional drive and a dribbling mechanism) and the control strategies that rendered them effective. As opposed to last years “role-based” strategy, a “play- based” strategy wasimplemented, which allowed us to make full use of the robot capabilities for cooperative control.