The Cornell Robocup Team

  • Raffaello D’Andrea
  • Tamás Kalmár-Nagy
  • Pritam Ganguly
  • Michael Babish
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2019)


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.


Optimal Control Problem Trajectory Generation Minimum Control Wheel Velocity High Level Strategy 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Raffaello D’Andrea
    • 1
  • Tamás Kalmár-Nagy
    • 2
  • Pritam Ganguly
    • 2
  • Michael Babish
    • 3
  1. 1.Sibley School of Mechanical and Aerospace EngineeringIthacaUSA
  2. 2.Department of Theoretical and Applied MechanicsIthacaUSA
  3. 3.Department of Computer ScienceIthacaUSA

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