CIIPS Glory - Small Soccer Robots with Local Image Processing

. CIIPS Glory is using a local intelligence approach to solve the task of robot soccer. In this respect our system is much closer to the F-2000 league (mid-size) than other approaches in the F180 (small-size) league. We are using EyeBot controllers, the RoBIOS operating system and the EyeCam digital onboard camera systems (CMOS). Our robot family also comprises 6-legged and biped walking machines, an omni-directional robot and an autonomous airplane. 1 Introduction The CIIPS Glory robot soccer team (Figure 1) has competed in RoboCup tournaments in Singapore (1998, [1]), Melbourne (1999), and Melbourne (2000). In the first two events it was the only team using a local intelligence approach without employing global vision, while at Melbourne 2000 three teams used this approach. Since the basic robot design has already been published in [2], we will concentrate in this article on innovations and improvements of our design. We experienced major difficulties in the past robot soccer..