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Robot Soccer Team, FIRA World Cup, 2010



Overview


In this project, we designed a set of 5 soccer playing robots to compete in the Federation of International Robot-soccer Association (FIRA) World Cup 2010 held in Bangalore, India. We were the first Indian team to particpate and play in a match.

Publications


  • S. Choudhury "Strategy, Control and Design of Multi-agent Soccer Playing Robots", Bachelors Thesis, IIT Kharagpur (pdf).

    • Details


    A clip from the match against the world champions Slovakia.



    Some pictures from the event are shown below.






    The first Team Description Video



    A screenshot of the robot detection program
    A bi-directional multivariate RRT was used for planning. To improve performance, a waypoint cache technique was implemented. For smoother paths, post-processing was done on the RRT solution.
    The project explored a variety of strategies such as potential fields as shown below. Finally, a more robust approach of using a finite state machine in the behaviour level of the robot was used.

    Links


    Here is project webpage for upto date work on FIRA.