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Berlin Heidelberg New York Barcelona Hong Kong London Milan Paris Singapore Tokyo

Peter Stone Tucker Balch Gerhard Kraetzschmar (Eds.)

RoboCup 2000: Robot Soccer World Cup IV

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Series Editors Jaime G. Carbonell,Carnegie Mellon University, Pittsburgh, PA, USA J¨org Siekmann, University of Saarland, Saarbr¨ucken, Germany Volume Editors Peter Stone AT & Labs - Research 180 Park Ave., room A273, Florham Park, NJ 07932, USA E-mail: [email protected] Tucker Balch Carnegie Mellon University The Robotics Institute 5000 Forbes Avenue, Pittsburgh, PA 15213-3891, USA E-mail: [email protected] Gerhard Kraetzschmar University of Ulm Neural Information Processing Department Oberer Eselsberg, 89069 Ulm, Germany E-mail: [email protected] Cataloging-in-Publication Data applied for Die Deutsche Bibliothek - CIP-Einheitsaufnahme RoboCup : Robot Soccer World Cup IV / RoboCup 2000. Peter Stone ... (ed.). - Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong ; London ; Milan ; Paris ; Singapore ; Tokyo : Springer, 2001 (Lecture notes in computer science ; Vol. 2019 : Lecture notes in artificial intelligence) ISBN 3-540-42185-8

CR Subject Classification (1998): I.2, C.2.4, D.2,7, H.5, I.5.4, I.6, J.4 ISBN 3-540-42185-8 Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable for prosecution under the German Copyright Law. Springer-Verlag Berlin Heidelberg New York a member of BertelsmannSpringer Science+Business Media GmbH http://www.springer.de © Springer-Verlag Berlin Heidelberg 2001 Printed in Germany Typesetting: Camera-ready by author Printed on acid-free paper SPIN 10782256

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Preface

RoboCup 2000, the Fourth Robot World Cup Soccer Games and Conferences, was held from August 27th to September 3rd, 2000, at the Melbourne Exhibition Center in Melbourne, Australia. Like the previous international RoboCup events – RoboCup 97 in Nagoya, Japan; RoboCup 98 in Paris, France; and RoboCup 99 in Stockholm, Sweden – RoboCup 2000 included a technical workshop as well as several robotic soccer competitions. RoboCup 2000 introduced the first RoboCup Jr. competition for children, as well as demonstrations of humanoid robots and of the RoboCup-Rescue disaster rescue simulator. This book documents RoboCup 2000. It consists of (i) an overview; (ii) championship papers by the winners of the competitions; (iii) the finalist papers for the RoboCup challenge awards; (iv) the papers and posters presented at the workshop; and (v) descriptions of the teams that competed. The book begins with