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Abstract. We describe our technical approach in competing at the RoboCup 2000 Sony legged robot league. The UNSW team won both the challenge competition and all their soccer matches, emerging the outright winners for this league against eleven other international teams. The main advantage that the UNSW team had was speed. The robots not only moved quickly, due to a novel locomotion method, but they also were able to localise and decide on an appropriate action quickly and reliably. This report describes the individual software sub-systems and software architecture employed by the team.

Competing at the RoboCup 2000 Sony legged robot league, the UNSW team convincingly won all their matches. One of the advantages of the team was a new localisation algorithm that is very fast and can tolerate noisy input from the environment as well as unexpected collisions with other objects. This paper describes the algorithm in detail.