On 19th of March 2019 Eric Dortmans presented the short paper "How to model soccer robot software? – A comparison of approaches" by Suzana Andova, Eric Dortmans and Teade Punter at ICT Open conference in Hilversum.
The RIF Robocup MSL Development team of Fontys Hogeschool ICT faces the challenge of programming soccer robots. C++ is applied on the actuator and sensor (firmware) level. For perception and action planning ROS nodes and ROS software framework are applied. The complex behavior of a soccer robot is a temporal composition of elementary skills like Intercept, Dribble, Shoot and Pass. It needs to intercept the ball, dribble with the ball and at some point decide to either shoot to score a goal or to pass the ball to a teammate. Model driven approach is required to deal with the robot behavior.