Developing software for autonomous soccerrobots to be able to play soccermatches in the Robocup Midsize League (MSL) https://www.robocup.org/leagues/6. We perceive soccer robots as an interesting example of cyber physical systems. A multirobot team existing of five holonomic robots should be controlled in a way that they can play soccer and win from a competing team of another five robots. Each of the autonomous robots has to play a match of two times fifteen minutes while no communication between friends and opponents is allowed. Because of the autonomy of the robots their behaviour has to be implemented in front of the match. However during the match the interaction between the robots and the required actions becomes clear, while the number of possible robot (re)actions is infinite.
We face several research challenges, such as modelling robot behaviour with different techniques like Behavior Trees and defining the basic soccer skills, like passing, in a soccer robot. Machine learning might be a helpfull for parts of our robot software. Currently, we are also developing our own soccer robot on commercial available hardware.