S.P.Q.R. Legged Team Description Paper

S.P.Q.R. (Soccer Player Quadruped Robots, but also Senatus PopolusQue Romanus) is the group of the Faculty of Engineering at University of Rome “La Sapienza” in Italy, that is involved in RoboCup competitions since 1998 in different leagues (Middle-size 1998-2002, Four-legged since 2000, Real-rescue-robots since 2003). This report presents the main development efforts of the team in 2005-2006. Since 2005, our team has adopted the German Team Architecture [9]. This choice has been motivated mainly by its high modularity, allowing for developing software modules realizing specific functionalities rather independently from the others. In this way in 2005 we have been able to replace many of the original GT2004 modules with our own modules previously developed in our old architecture: Color Segmentation, Self-Localization, Behavior Control, Plan Execution and Multi-Robot Coordination. In this report we describe the main research issues that have been developed and sperimented for RoboCup 2006.