Kein Folientitel

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F-180 Team
Freie Universität Berlin Institute of Computer
Science AI Group
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FU-Fighters
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• Mechanics and electronics
• Aluminum frame to protect the electronics
• Two individual DC-motors for differential drive
  
• Passive sphere for third point of support
• Shooting plate controlled by a third motor
• On-board microcontroller Motorola HC05

• Vision system
• NTSC video camera (640x480 Pixel, 30fps)
• Searches and tracks colored objects
• Determines position of the ball, as well as
  position and orientation of all robots
• Predicts positions in the next frame and
  investigates only small windows of the image

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• Behavior control
• Reactive, layered system of sensors, behaviors,
  actuators within a time hierarchy
• Higher sensory levels aggregate information
• Higher-level behaviors modulate/configure
  lower-level behaviors
• there is no explicit world model
• fast reactions (reflexes) are possible

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• Radio link
• Transceiver working at 433-434.5 MHz
• Error tolerant transmission
• Packets contain target speeds for the motors
• Local control of motor speed

Who built them ? Our team is composed of three
researchers and seven students from the CS
Institute at FU Berlin. Upper row Wolf
Lindstrot, Prof. Dr. Raúl Rojas, Manuel de Melo,
Dipl.-Inf. Sven Behnke, Oliver Tenchio. Lower
row Martin Sprengel, Dipl.-Inf. Bernhard
Frötschl, Mark Simon, Peter Ackers, Andreas
Schebesch.
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Contact Prof. Dr. Raúl Rojas, Sven Behnke,
Bernhard Frötschl Email rojas, behnke,
froetsch_at_inf.fu-berlin.de Internet
http//www.inf.fu-berlin.de/robocup Phone. 49
30 838 75 130 / 131 / 133 / 100, Fax /
109 Mail FU Berlin, Institut für Informatik,
Takustr. 9, 14195 Berlin, Germany
Sponsors We thank Conrad Electronic, Faulhaber
Motors, Siemens ElectroCom Postautomation and
Lufthansa Systems Berlin for their material and
financial support