RobôCIn SSL-Unification: A Modular Software Architecture for Dynamic Multi-robot Systems
摘要
RobôCIn robotics team has participated in the RoboCup Small Size League since 2019 and is currently a two-time world champion (Division B) and four-time Latin-American champion. This paper presents our improvements to defend the Small Size League (SSL) division B title in RoboCup 2023 in Bordeaux, France. In this paper, we present the academic research that our team developed over the past year. We migrated from our legacy architecture to a novel modular approach called SSL-Unification, designed for parallel execution of multi-robot systems in dynamic environments. Results show that the new software architecture overcomes the Division B SSL team’s average in 2023 competition in key metrics such as 300% more scored goals and 19.4% less number of fouls.