The CMUNITED small-robot team became the 1998 RoboCup small-robot league champion, repeating its 1997 victory. This article gives an overview of the cmunited-98 team, focusing on this year's improvements.

Although our previous and processes the images, giving the positions team had accurate navigation, it was not easily of each robot and the ball. This information is interruptible, which is necessary for operating sent to an off-board controller and distributed in a highly dynamic environment. The final design includes a battery of inherent mechanical inaccuracies and module supplying three independent unforeseen interventions from other agents. It also includes a single board RoboCup competition in Paris (Stone, Veloso, containing all the required electronic circuitry and Riley 1999; Kitano et al. 1997). These improvements by an array of four infrared sensors, which include a robust low-level control algorithm, which handles a moving target with is enabled or disabled by the software control.