CMPack

Abstract

This paper describes a completely implemented, fully autonomous software system for soccer playing quadruped ro\-bots. The system includes real-time color vision, probabilistic localization, quadruped locomotion/motion, and a hierarchical behavior system. Each component was based on well tested algorithms and approaches from other domains. Our design exposed strengths and weaknesses in each component, and led to improvements and extensions that made them more capable in general, as well as better suited for our testing domain. Integrating the components revealed design assumptions that were violated. We describe the problems that arose and how we addressed them.