ER-Force 2011 Extended Team Description
Florian Bauer, Michael Bleier, Michael Eischer,
Stefan Friedrich, Adrian Hauck, Philipp Nordhus
Robotic Activities Erlangen e.V.
Pattern Recognition Lab, Department of Computer Science
University of Erlangen-Nuremberg
Martensstr. 3, 91058 Erlangen, Germany
info@robotics-erlangen.de
http://www.er-force.de/
Abstract.
This paper presents an overview description of ER-Force, the
RoboCup Small Size League team from Erlangen, Germany. The current
hard- and software design of the robots and the motion control system
are described. An insight in the software framework and strategy archi-
tecture is provided. Furthermore, upcoming changes and improvements
are outlined.
1
Introduction
This paper describes the German RoboCup Small Size team ER-Force from the
University of Erlangen-Nuremberg. The team was founded in fall 2006 by stu-
dents from various engineering disciplines, such as computer science, mechatron-
ics and electrical engineering. It is still an interdisciplinary project with around
twenty members. In 2007 we founded a non-profit association called “Robotic
Activities Erlangen e.V.”. This association is engaged in many robot-related ac-
tivities including the support of two Robotics groups at local high schools. The
team participates at the international competitions of RoboCup since 2009.
The following sections provide an overview of our current Small Size League
team. In Section 2 the hardware and firmware architecture of the robots is de-
scribed. We discuss the hardware of our 2010 system and outline the new de-
velopments that will improve our 2011 system, e.g. the modular design that we
are going to use as it turned out to be very complicated changing components
that are located in the lower part of the robots. The motion controller used is
described in Section 3. In Section 4 we examine the software architecture. The
different submodules such as a simulator and pathfinding are shown as well as a
short overview of the radio communication protocol. The techniques applied for
filtering and tracking of the position data provided by SSL-Vision are presented
in Section 5. The strategy module and decision algorithms implemented in our
system are described in Section 6. Besides we are going to present on RoboCup
2011 a new SSL-RefBox, that is specified in Section 7. It will provide a more
clearly arranged user interface and will also work under lower screen resolution,
what had often been a problem.