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Agent Implementation of a Soccer Mobile Robot Based on a Google Android™ Smartphone

Dani Martínez, Javier Moreno, Marcel Tresanchez, Tomàs Pallejà, Davinia Font, Mercè Teixidó, Jordi Palacín


This paper presents the implementation of a soccer mobile robot agent that uses vision based object detection procedures. The soccer mobile robot is based on a Google Android smartphone and takes advantage of its computation and sensing capabilities. The agent implementation uses a multi-threading methodology to generate different agent processes such as the vision sense, the decision-making, and the application manager. The vision sense thread captures images from the smartphone camera and provides environment information using Renderscript computation while the decision-making thread provides effective soccer agent behavior. This paper presents and discusses the agent implementation and the effectiveness of the vision based object detection procedures.


Google Android, smartphone, mobile robot, computer vision.

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