Abstract:The Paderkickers are a robot soccer team that makes heavy use of automotive technology Uke C167 micro-controllers or communication over CAN bus. All sensor data is processed on these decentralized embedded nodes to yield a high degree of reliability and hardware layer abstraction. In this paper, we describe how the complex system copes with perception and action in real-time and integrates it in the higher strategy layer to achieve autonomous behavior.

In his landmark work introducing layered learning Stone presented a new way of handling complex application domains suitable especially for mobile robots. We extend his framework by introducing robust layered learning -a framework that is able to handle system and environmental changes at every layer. We present first results of a lower level implementation of such a framework for mobile robots and discuss how all available sources of information regarding unforeseen changes can be integrated in such a framework in order to reach maximal robustness.

No abstract

No abstract

No abstract