2019 – TDP – CAMBADA – RoboCupSoccer – Middle Size

As part of the qualification materials to apply for RoboCup 2019, this paper describes the most recent improvements made by the CAMBADA Middle Size robotic soccer team. During the last year, improvements have been made in a significant number of components of the robots. The most important changes include redesign of the vision system, design and adoption of an Ethernet gateway among all hardware modules, model adjustment of the ball handling mechanism, conclusion and release of the new RtDB v2, improvements on the vision color calibration and distributed leader election technique, further developments on the set-play engine and the release of the Wi-Fi Monitor and analyser tool for MSL.

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