In order to foster research and development in a multi-agent robotic environment three fundamental improvements on the robots need to be carried out: a) a very reliable and robot control which works at high speeds and a dynamic approach is described in this work; b) Cooperative behaviour is very important since without it there is no ball pass, and that is becoming more and more necessary; c) Upwards kick, since traditional horizontal kickers are already very common. Other improvements were carried out in the robots but due to lack of space in this paper are not described. This paper describes how these three issues were tackled by the MINHO team and shows their next directions
