Description of the Warthog Robotics SSL 2017
Project
Rafael G. Lang, Guilherme C. de Oliveira,
Heloisa J. Barbosa, N´ıcolas dos S. Rosa,
Bruno C. Henriques, Anderson H. de Siqueira,
Ivan N. da Silva, and Roseli A. F. Romero
Warthog Robotics
University of S˜
ao Paulo at S˜
ao Carlos
400 Trabalhador S˜
ao-carlense Ave, S˜
ao Carlos, S˜
ao Paulo, Brazil
warthog@sc.usp.br
http://www.warthog.sc.usp.br
Abstract.
This paper presents the main modifications since the last
Team Description Paper of Warthog Robotics and a general explanation
of the current project, presenting RoboCup SSL team WR Magic, devel-
oped since 2011 by the Warthog Robotics group from the University of
S˜
ao Paulo at S˜
ao Carlos. This project merges the best features from older
projects developed by the groups GEAR and USPDroids. The mechani-
cal structure is a mixed design using aluminum and composite materials
and contains four DC motors for locomotion. The system architecture
is based on the GEARSystem library, with a new decision tree strategy
module, and powered by some filtering algorithms on the vision module.
The team presents full game capability with accurate and fast responses
to strategy and referee commands.
Keywords:
Mobile Robotics, RoboCup, Artificial Intelligence, Embed-
ded Electronics, Warthog Robotics.
1
Introduction
At the beginning of 2011 the groups GEAR and USPDroids merged creating the
Warthog Robotics, a group of the departments of Electrical Engineering of the
S˜
ao Carlos School of Engineering and the Computer Sciences of the Institute of
Mathematics and Computer Science of the University of S˜
ao Paulo at S˜
ao Car-
los. The group counts with about 100 members students of Computer Science,
Electrical, Mechatronic and Computer Engineering and develops robotics tech-
nologies, applying most of them at the robot soccer. And current is the champion
of the RoboCup Latin American Open.
The mechanical structure and the electronic boards are the same from the last
year, described briefly on this paper, and detailed information can be found in
[1] [2]. The next sections present the newest modifications of WR Magic fea-
tures details, most of them on the computer systems (artificial intelligence and
computer vision systems).