Abstract
The 5dpo team presented a solid set of innovative solutions. The overall workings of the team are presented. Mechanical and electronic solutions are explained and closed loop working is discussed. Main innovative features include I-R communications link and circular bar code for robot tracking. Low level control now presents a dynamics prediction layer for enhanced motion control. Team strategy is also new and a multi-layered high level reasoning system based on state charts allows for cooperative game play. © 2002 Springer-Verlag Berlin Heidelberg.

Abstract
This paper describes the 5dpo team. The paper will be divided into three main sections, corresponding to three main blocks: the Global Level, the Local Level and the Interface Level. These Levels, their subsystems and some implementation details will be described next.

Abstract

Abstract
This paper describes the method employed to track and identify each robot during a Robocup match. Also, the playing ball is tracked with almost no extra processing effort. To track the robots it is necessary the use of adequate markers so that not only the position is extracted but also the heading. We discuss the difficulties associated with this problem, various possible approaches and justify our solution. The identification is performed thanks to a minimalist bar code placed in each robot. The bar code solves the problem of resolving some ambiguities that can arise in certain configurations. The procedure described can be executed in real time as it was shown in Paris in RoboCup-98.

Abstract
Localization is essential to modern autonomous robots in order to enable effective completion of complex tasks over possibly large distances in low structured environments. In this paper, a Extended Kalman Filter is used in order to implement self-localization. This is done by merging odometry and localization information, when available. The used landmarks are colored poles that can be recognized while the robot moves around performing normal tasks. This paper models measurements with very different characteristics in distance and angle to markers and shows results of the self-localization method. Results of simulations and real robot tests are shown.

Abstract
This paper describes the 5dpo-2000 team, The paper will be divided into three main sections, corresponding to three main blocks: the Global Level, the Local Level and the Interface Level. These Levels, their subsystems and some implementation details will be described next.