Publication
Dueling Behavior Leveraging Advanced Motion Control for the NAO Robot
Philip Reichenberg; Thomas Röfer
In: Ana Patrícia Fontes Magalhães Mascarenhas; Alexander Antoine Ferrein; Rudi Villing (Hrsg.). RoboCup 2025: Robot World Cup XXVIII. RoboCup International Symposium (RoboCup-2025), July 21, Salvador, Brazil, LNAI, Springer, 2026.
Abstract
In the past five years, the team B-Human has achieved remarkable success in the RoboCup Standard Platform League, winning all its games and maintaining an impressive average goal ratio of 8.11:0.05 per game. This success can be attributed to the unique dueling behavior of our robots, which enables them to emerge victorious in most one-on-one battles for control of the ball. In this paper, we present our innovative approach to this challenging task. Our approach leverages the advanced motion control capabilities of our robot software and combines it with a rule-based system and potential fields. To validate the effectiveness of our new approach, we conducted an evaluation that compared it to our previous method in both simulated and real games.