1. F-180 Team Freie Universität Berlin Institute of Computer Science AI Group

3. FU-Fighters

4. 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

5. 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

6. 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.

8. Contact Prof. Dr. Raúl Rojas, Sven Behnke, Bernhard Frötschl Email: {rojas, behnke, froetsch}@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