STOx’s 2016 Extended Team Description Paper
Saith Rodr´ıguez, Eyberth Rojas, Kather´ın P´
erez, Carlos Quintero, Heyson
B´
aez, Oswaldo Pe˜
na, and Juan Calder´
on
Faculty of Electronics Engineering
Universidad Santo Tom´
as
Bogot´
a, Colombia
{saithrodriguez,eyberthrojas,kathyperez,carlosquintero,
heysonbaez,oswaldopena,juancalderon}@stoxs.org
http://www.stoxs.org
Abstract.
This paper shows the current state of the STOx’s team after
its last participation in the latest RoboCup world championship. Among
the most important characteristics we see that STOx’s has achieved a
number of goals converted per game of 2
.
71, while only received 0
.
43
goals per game, the lowest compared to previous participations. Also,
we show two important tools developed and implemented in our team’s
software platform: one that allows us to identify and reconstruct the
parabolic path followed by the ball after a chip kick with an average
error of the estimated landing point of less than 6cm. The other tool is
used to calculate a set of key points to construct dynamic plays after an
indirect free kick. The developed algorithm provides locations that are
good candidates for receiving the pass and shoot to the goal with high
chances of scoring and is based on a constrained optimization problem.
1
Introduction
Our team has been participating in the RoboCup initiative since 2011 [1] with
its fifth participation in the latest RoboCup version in 2015 [2]. During the
experience lived in the RoboCup events, the relationships and talks with other
participants and the TDPs of the most experienced teams [3] have allowed us to
assemble a team that has grown and improved over time.
The evolution of the main technical aspects of the league has provided the
teams with the possibility to explore a large variety of new cooperative tech-
niques [4, 5], faster games [6], more dynamic plays and a highly attractive show
for the general audience and soccer fans. Specifically, the extension of the field
dimensions has given new room for the fast robot agents to perform more cre-
ative, free and dynamic games. The decisions in terms of accurately predicting
the behavior and actions of the most competitive teams have become also an
interesting and yet open challenge [7].
The robots have had little changes since the incorporation of the chip kickers,
more powerful traction motors of some teams and some customized modifications
that certain teams have added. However, new major changes that add function-
alities to the current state of the robots may be included in the near future in