Portus A Common Framework for Cooperative Robotics – Legged League Team.pdf

Portus: A Common Framework for Cooperative Robotics – Legged League Team 1,2 1,3 2 1 1 Luís Paulo Reis , Paulo Costa , António Nabais , João Barbosa , Nuno Cerqueira , 1 1 1 1 Ricardo Afonso , Tiago Carvalho , Sérgio Rasgado , Miguel Rentes , António Paulo Moreira1,3 e Eugénio Oliveira1,2 lpreis@fe.up.pt; paco @fe.up.pt; anabais@ipca.pt, amoreira@fe.up.pt; eco @fe.up.pt 1FEUP – Faculty of Engineering of the University of Porto, Portugal 2LIACC – Artificial Intelligence and Computer Science Lab., University of Porto, Portugal 3ISR-P –Institute for Systems and Robotics, Portugal http://www.fe.up.pt/~lpreis/portus Abstract: Portus Legged League team is being developed by a research group with a long and successful experience in RoboCup (simulation, small-size and middle-size leagues) and results from the combined efforts of two research laboratories (LIACC and ISR-P) and from our previous teams (FC Portugal – simulation league and 5DPO – small and middle size leagues). We believe to have developed a very competitive team that although being in its first steps, includes several research innovations (like Strategic Positioning and Automatic Color Calibration) and is very flexible in its coordination methodologies and soccer playing strategies. 1. Introduction and Research focus Portus research focus is on coordination methodologies applied to the legged league and on developing a common approach to all RoboCup soccer leagues. In the context of Portus we also perform research on v