Vision, kinematics and game strategy in multi-robot systems like MSL RoboCup

In Multi-Robot systems like the RoboCup football challenge, there are a small number of key issues which are of extreme relevance for the successfulness of the final application. In MSL RoboCup these main issues are three: a) The vision system, which has to be as reliable and fast as possible in order to perceive the necessary entities to carry out the game actions; b) Correct kinematics of the robot, that makes the robots move towards the desired goal in the fastest, shortest and optimized away; c) Game strategy, which needs collaboration and communication between all the agents in the field. Other issues are also important but these three consist of the fundamental ones towards the next step in this challenge which is ball pass between the robots in a controlled way. A team of robots will only be able to pass the ball to another robot only when these three issues are sorted out. This paper describes how these three issues were tackled by the MINHO team and shows their next directions.