On B-Human’s Code Releases in the Standard Platform League – Software Architecture and Impact

  • Thomas Röfer
  • Tim Laue
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)


In RoboCup, source code releases after a competition are one important part of the competition’s overall progress. In particular teams in the Standard Platform League can strongly benefit from other’s software, as everybody shares the same robot platform. Therefore several releases by different teams exist. In this paper, we describe the past code releases of our team B-Human, particularly focusing on its underlying software architecture, which is set in relation to concepts of the currently popular Robot Operating System (ROS), as well as on its impact on the league’s progress.


Robot Platform Robot Operating System Code Release Walking Gait Team Report 
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.


  1. 1.
    Annable, B., Budden, D., Calland, S., Chalup, S.K., Fenn, S.K., Flannery, M., Fountain, J., King, R.A., Mendes, A., Metcalfe, M., Nicklin, S.P., Turner, P., Walker, J.: The NUbots team description paper. In: RoboCup 2013: Robot Soccer World Cup XVII Preproceedings, RoboCup Federation, Eindhoven, Netherlands (2013)Google Scholar
  2. 2.
    Barrett, S., Genter, K., He, Y., Hester, T., Khandelwal, P., Menashe, J., Stone, P.: UT Austin Villa 2012: Standard platform league world champions. In: Chen, X., Stone, P., Sucar, L.E., van der Zant, T. (eds.) RoboCup 2012. LNCS (LNAI), vol. 7500, pp. 36–47. Springer, Heidelberg (2013)CrossRefGoogle Scholar
  3. 3.
    Graf, C., Röfer, T.: A center of mass observing 3D-LIPM gait for the RoboCup Standard Platform League humanoid. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds.) RoboCup 2011. LNCS (LNAI), vol. 7416, pp. 102–113. Springer, Heidelberg (2012)Google Scholar
  4. 4.
    Hashemi, E., Ghiasvand, O.A., Jadidi, M.G., Karimi, A., Hashemifard, R., Lashgarian, M., Shafiei, M., Farahani, S.M., Zarei, K., Faraji, F., Harandi, M.A.Z., Mousavi, E.: Mrl team description 2010 standard platform league. In: Chown, E., Matsumoto, A., Ploeger, P., del Solar, J.R. (eds.) RoboCup 2010: Robot Soccer World Cup XIV Preproceedings. RoboCup Federation, Singapore (2010)Google Scholar
  5. 5.
    Jagannathan, V., Dodhiawala, R., Baum, L.S. (eds.): Blackboard Architectures and Applications. Academic Press, Boston (1989)zbMATHGoogle Scholar
  6. 6.
    Keidar, M., Aharon, I., Barda, D., Kamara, O., Levy, A., Polosetski, E., Ramati, D., Shlomov, L., Shoshan, J., Yakir, A., Zilka, A., Kaminka, G.A., Kolberg, E.: Robocup 2010 standard platform league team burst description. In: Chown, E., Matsumoto, A., Ploeger, P., del Solar, J.R. (eds.) RoboCup 2010: Robot Soccer World Cup XIV Preproceedings, RoboCup Federation, Singapore (2010)Google Scholar
  7. 7.
    Lötzsch, M., Risler, M., Jüngel, M.: XABSL - A pragmatic approach to behavior engineering. In: Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), Beijing, China, pp. 5124–5129 (2006)Google Scholar
  8. 8.
    Metzler, S., Nieuwenhuisen, M., Behnke, S.: Learning visual obstacle detection using color histogram features. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds.) RoboCup 2011. LNCS, vol. 7416, pp. 149–161. Springer, Heidelberg (2012)Google Scholar
  9. 9.
    Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: An open-source robot operating system. In: Proceedings of the Open-Source Software Workshop of the International Conference on Robotics and Automation (ICRA), Kobe, Japan (2009)Google Scholar
  10. 10.
    Röfer, T., Brose, J., Göhring, D., Jüngel, M., Laue, T., Risler, M.: GermanTeam 2007. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI Preproceedings, RoboCup Federation (2007)Google Scholar
  11. 11.
    Röfer, T., Laue, T., Burchardt, A., Damrose, E., Gillmann, K., Graf, C., de Haas, T.J., Härtl, A., Rieskamp, A., Schreck, A., Worch, J.H.: B-Human team report and code release 2008 (2008), only available online:
  12. 12.
    Wang, C.C., Wang, S.C., Yen, H.C., Chang, C.H.: NTU robot PAL 2009 team report (2009), only available online:
  13. 13.
    Zickler, S., Laue, T., Birbach, O., Wongphati, M., Veloso, M.: SSL-Vision: The shared vision system for the RoboCup Small Size League. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup 2009. LNCS (LNAI), vol. 5949, pp. 425–436. Springer, Heidelberg (2010)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Thomas Röfer
    • 1
  • Tim Laue
    • 1
  1. 1.Cyber-Physical SystemsDeutsches Forschungszentrum für Künstliche IntelligenzBremenGermany

Personalised recommendations