Author(s): Ribeiro, António Fernando Alcântara ; Lopes, Carolina ; Ribeiro, Cláudio ; Costa, Joel ; Martins, José ; Oliveira, Paulo ; Silva, Rúben ; Lima, Rui ; Martins, Rui ; Pereira, Rui ; Oliveira, Tiago ; Lopes, Gil ; Ribeiro, A. Fernando
Date: 2024
Persistent ID: https://hdl.handle.net/1822/96365
Origin: RepositóriUM - Universidade do Minho
Subject(s): Robotic Football; Autonomous Robots; RoboCup; Mobile Robots; MSL; LAR
The LAR@MSL team has been participating in MSL for many years, from 1999-2007, 2011, 2016 and again in 2023. This Team Description Paper intends to briefly explain the robot’s structure, hardware and software and some of the most important changes implemented by this new team. It is important to point out that new students joined the team and are new to the league. Most of the changes, so far, have been regarding fixing the mechanical problems, some changes in the electronic system and some upgrades on the architecture and code organisation and control systems. A new vision system with a multi-camera setup has been developed, new stronger wheels and the addition of debugging LEDs to help in the development process. Regarding the software, a ground-up rebuild was carried out as the game strategy’s new attempt was very different from the previous team. This paper describes a bottom-up view of the robots, the hardware used, the vision head, the low-level software and strategy and finishes with some conclusions. The whole code and the hardware description are available on a public GitHub repository.
