CommonStructureRoles

Common Structure of the Roles

Each role is based on the same underlying logic, that can be summarized as follows:

A generic state machines handles the play state and the penalty states (penalty kick, free kick). In play:

• if the ball and self-location are available, eventually through the shared variables, the robot plays according to its role
• if the ball is lost, each robot will start a role-dependent searching routine
• if the self-location estimation diverges, the robot would perform a relocate procedure

The high-level state machines are : Keeper.h, Defender.h, Supporter.h and Striker.h . In 5vs5 we have been deploying 2 defenders, to have a more balanced team.

For RoboCup23, due to the introduction of 7vs7 matches, we are changing out behavior logic to be more generic and adaptable.