CAMBADA'2013: Team Description Paper

This paper describes the CAMBADA Middle Size robotic soccer team for the purpose of qualification to RoboCup'2013. During the last year, improvements have been made in a significant number of components of the robot. Most important changes include the ongoing implementation of a new platform, implementation of a new modular vision system and the use of new digital cameras, ball detection in 3D space, improvements in the world modeling and sensor fusion, develop- ment of a model for trajectory generation and several improvements in the high-level coordination and control, namely a new model for the soft- ware agent based on utilities, that includes the use of setplays, strategic positioning, passes and learning for behaviors development.