The CS Freiburg Team: Playing Robotic Soccer Based on an Explicit World Model

Robotic soccer is an ideal task to demonstrate new techniques and explore new problems. Our intention in building a robotic soccer team and participating in RoboCup-98 was, first, to demonstrate the usefulness of the self-localization methods we have developed. Second, we wanted to show that playing soccer based on an explicit world model is much more effective than other methods. Third, we intended to explore the problem of building and maintaining a global team world model.