Small Size Team

People

Overview

Downloads

Multi-Media

Team Pages

Publications

People

Current:

Joydeep Biswas, Juan Pablo Mendoza, Danny Zhu, Benjamin Choi, Steven Klee, Alex Etling, Manuela Veloso

Past:

Stefan Zickler, Gabriel Levi, Philip Wasserman, James Bruce, Mike Licitra, Michael Bowling, Brett Browning, Michael Sokolsky, Dinesh Govindaraju, Jennifer Lin, Betsy Ricker, David Rozner, Paul Harada, Peter Stone, Kwun Han, Sorin Achim.

Overview

Small Size robot soccer is a game between two autonomous teams of 6 robots with an orange golf ball. The robots compete in a game of soccer with rules dictated by a human referee. Referee signals are transmitted to each team computer via the referee box. Small Size differs from the other leagues in a number of ways. The robots, which are built by the teams, must fit within a 180cm cylinder that is 15cm tall. The robots must also be relatively concave and have no holes that swallow the ball by more than 20% of its surface area when projected onto the ground (ie. about 1cm of depth). Overhead cameras are allowed in addition to on-robot sensing. Additionally, off-field computers are allowed to 'simplify' the distributed computation challenges. These rules allow teams to focus more on the behavior and teamwork part of the robot soccer problem rather than on single robot issues such as localization, which are an ever present problem in the other leagues. As such, Small Size League games are the fastest and most dynamic within the leagues that make up RoboCup. Watch some of our team videos (see below) and see for yourself.

Carnegie Mellon has participated in the Small Size League since its inception in 1997. We have won the competition four times (1997, 1998, 2006, 2007), and achieved second place three times (2008, 2010, 2013), making us the current leader of the Small Size League Hall of Fame.

Downloads

We have a number of Open Source releases, of both software and hardware, that are available to everyone. These items are available under the GNU LGPL license. We just ask that if you use our releases that you cite our relevant papers appropriately (see our publication list).

  • Go to the CORAL Download page for our full list of downloads.
    • SSL-Vision the shared Small Size League Vision system, developed in part by CMU (also see the paper here).
    • CMVision the fast color vision library used by CMDragons, now part of SSL-Vision.
    • CMDragons'02 software our 2002 RoboCup code base can be found here.

    Multi-Media

    We have a collection of videos and pictures in the following galleries

    Old Team Pages

    • CMUnited'98 World Champions of the RoboCup'98 Small Size Robot League
    • CMUnited'97 World Champions of the RoboCup'97 Small Size Robot League

    Publications

    Our Small Size publications can be found here:

  • Small Size publications.

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