This paper describes the hardware and software of the robotic soccer team
built at the Freie Universität Berlin which took part in the 1999 RoboCup
Championship in Stockholm, Sweden. Our team, the FUFighters, consists of five
robots of less than 18 cm horizontal cross-section. Four of the robots have
the same mechanical design, while the goalie is slightly different. All the
hardware was designed and assembled at the FU Berlin. The paper describes the
hierarchical control architecture used to generate the behavior of individual
agents and the whole team. Our reactive approach is based on the dual dynamics
framework proposed by Jäger, but extended with a third module of sensor
readings. Fast changing sensors are aggregated in time to form slowly changing
percepts in a temporal resolution hierarchy. We describe the main blocks of
the software and their interactions
