The Paderkicker Team: Autonomy in Realtime Environments

摘要

The Paderkickers are a robot soccer team that makes heavy use of automotive technology like C167 micro-controllers or communication over CAN bus. All sensor data is processed on these decentralized embedded nodes to yield a high degree of reliability and hardware layer abstraction. In this paper, we describe how the complex system copes with perception and action in real-time and integrates it in the higher strategy layer to achieve autonomous behavior.