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AI Magazine 

The algorithm successfully detects and tracks 11 objects (5 teammates, 5 opponents, and 1 ball) at 30 frames a second. The algorithm determines the position and orientation for the robots. In addition, a Kalman-Bucy filter (Kalman and Bucy 1961) is used as a predictor of the ball's trajectory. This prediction is an integral factor in our robots' control and strategic decisions. Before developing strategic behaviors, the robots need a general control mechanism.