Cooperative robotics: Passes in robotic soccer

The coordination necessary to make a pass in CAMBADA, a robotic soccer team designed to participate in the RoboCup Middle-Size League (MSL), is presented in this paper. The approach, which relies on information sharing and integration within the team, is based on formations, flexible positionings and dynamic role and positioning assignment. Role assignment is carried out locally on each robot to increase its reactivity. Coordinated procedures for passing and setplays have also been implemented. With this design, CAMBADA reached the 3rd place in RoboCup'2010 and RoboCup'2011. Competition results and performance measures computed from logs and videos of real competition games are presented and discussed.