Masters Theses


"In recent years research into robotics soccer systems has drawn considerable attention from researchers because it combines many of the most interesting areas of robotics research. In this thesis the author presents an implementation for a simple robotic soccer system consisting of three primary parts: a vision processing system, robotic agents, and a central controlling computer. This system allows researchers to explore different control techniques in a dynamic real-time environment with a minimum of both space and financial investment.

The system presented has a number of features that make it applicable to research in academic and educational environments. First, it can be quickly constructed for a reasonable cost. Second, it can be easily scaled to facilitate research on teams of one to seven robots. Third, the system performs all tasks at about thirty hertz which allows for reasonable control techniques to be used. Fourth, the system is highly modular so components can easily be upgraded when the need arises. Fifth, the system can be programmed from a variety of operating system and programming languages. Finally, the system facilitates use on a number of different configurations and granularity from a single controlling program controlling multiple robot all the way to a truly autonomous team where each robot is controlled by a unique control program.

In addition, the system meets most of the requirements of the common research initiative known as the RoboCup Challenge Small-Size League. This research initiative allows researchers from various location to meet and compete various systems against other in order to evaluate the performance of the systems"--Abstract, page iii.


Wilkerson, Ralph W.

Committee Member(s)

Erçal, Fikret
Dagli, Cihan H., 1949-


Computer Science

Degree Name

M.S. in Computer Science


A CD-ROM, available in the back of the manuscript, contains source code, documentation, figures, and animations.


University of Missouri--Rolla

Publication Date

Summer 2000


x, 64 pages

Note about bibliography

Includes bibliographical references (page 63).


© 2000 William Michael Siever, All rights reserved.

Document Type

Thesis - Restricted Access

File Type




Thesis Number

T 7796

Print OCLC #


Electronic OCLC #


Link to Catalog Record

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