Golem Team in Middle-Sized Robots League

Paolo de Pascalis, Massimo Ferraresso, Mattia Lorenzetti, Alessandro Modolo, Matteo Peluso, Roberto Polesel, Robert Rosati, Nikita Scattolin, Alberto Speranzon, Walter Zanette

Abstract: Golem is an holonomic robot designed to be compliant with Robocup regulations for the middle-sized league. The project consists in three parts: mechanics and hardware, vision system and software.We adopted the universal three wheels model to achieve a great freedom of movement. In order to take advantage of this particular feature, the vision system has to give a full sight of the environment. This objective is achieved by a mirror mounted on the mobile base. Decision making and planning are based on the knowledge of the relative prosition of all objects in the field (ball, walls, robots, goals) and especially on the recognition of teammates and opponents. Every robot can play as goalkeeper, defender or attacker.