B-Human 2019 – Complex Team Play Under Natural Lighting Conditions

Abstract

In the RoboCup Standard Platform League 2019, the team B-Human won the main competition and, together with Berlin United - Nao-Team Humboldt, the Mixed Team Competition. For being successful in such a competitive environment, many sophisticated solutions for a variety of robotics tasks need to be found and integrated in a reliable and efficient manner. In this paper, we focus on three aspects that we consider as crucial for this year’s success and that have not been published before: a system of neural networks for ball classification and position estimation, a new framework for behavior specification along with its application to passes and set plays, and a set of approaches for maintaining the reliability of our robot team throughout a game.