Abstract
This paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). The system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. The localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.

Abstract
This paper's main purpose is to present an automatic vision assortment system for cork classification. Cork is a natural material that is used to seal wine bottles due to its reliability and its chemical and mechanic properties. A modular approach isolates the hard real-time sub problems. It includes some custom developed hardware and software. The developed and implemented system acquires images using a linear CCD camera, transmits that image over an Ethernet based network and processes that image to extract quantitative elements. This system can analyse and distinguish defects present on the surface of a cork-stopper and it is also possible to adapt it to other kinds of problems. The size, form and position of the defects are analysed and the stability of repeated measures is observed. This result allows us to validate the presented methodology.

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.