1. Team description Paper

The team description paper can be downloaded from here.

2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4] Weijia Yao,Huimin Lu ,Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, 2018. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

3. Results and awards in recent 3 years

2019

• 3rd place in MSL scientific challenge in RoboCup 2019, Sydney, Australia

• 1st place in MSL technique challenge in RoboCup 2019, Sydney, Australia

• 4th place in MSL of RoboCup 2019, Sydney, Australia

2018

• 4th place in MSL scientific challenge in RoboCup 2018, Montréal, Canada

• 3st place  in MSL technique challenge in RoboCup 2018, Montréal, Canada

• 4th place in MSL of RoboCup 2018, Montréal, Canada

• 2nd place in MSL of RoboCup 2018 ChinaOpen, ShaoXing, China

• 2nd place in MSL technique challenge of RoboCup 2018 ChinaOpen,ShaoXing, China

2017

• 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

• 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

• 4th place in MSL of RoboCup 2017, Nagoya, Japan

• 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

• 1st place in MSL scientific challenge of RoboCup 2017 ChinaOpen, RiZhao, China

4. Qualification video

The qualification video for  RoboCup 2021 (Virtual) can be found at our youku channel(recommended for users in China) or our YouTube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.

• Zhiqian Zhou, one member of NuBot team, served to MSL community as a member of OC RoboCup 2019 Syndey and TC RoboCup 2020 Bordeaux, France.

• We built a dataset for robot detection which contained fully annotated images acquired from MSL competitions. The dataset is publicly available at: https://github.com/Abbyls/robocup-MSL-dataset

• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which has been employed in China Robot Competition since 2016. Until 2020, 8 teams from China joined the competition and one team decides to join RoboCup MSL in the next few years. It can also be used for the research of multi-robot coordination control and the development of the RoboCup MSL community.

7. Declaration regarding mixed team

No!

8. Declaration regarding 802.11b AP

No!

9. MAC address

The list of our team's MAC addresses can be downloaded from here.

1. Team description Paper

The team description paper can be downloaded from here.

2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4] Weijia Yao,Huimin Lu ,Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, 2018. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

3. Results and awards in recent 3 years

2019

• 3rd place in MSL scientific challenge in RoboCup 2019, Sydney, Australia

• 1st place in MSL technique challenge in RoboCup 2019, Sydney, Australia

• 4th place in MSL of RoboCup 2019, Sydney, Australia

2018

• 4th place in MSL scientific challenge in RoboCup 2018, Montréal, Canada

• 3st place  in MSL technique challenge in RoboCup 2018, Montréal, Canada

• 4th place in MSL of RoboCup 2018, Montréal, Canada

• 2nd place in MSL of RoboCup 2018 ChinaOpen, ShaoXing, China

• 2nd place in MSL technique challenge of RoboCup 2018 ChinaOpen,ShaoXing, China

2017

• 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

• 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

• 4th place in MSL of RoboCup 2017, Nagoya, Japan

• 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

• 1st place in MSL scientific challenge of RoboCup 2017 ChinaOpen, RiZhao, China

4. Qualification video

The qualification video for  RoboCup 2020 Bordeaux, France can be found at our youku channel(recommended for users in China) or our YouTube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.

• Zhiqian Zhou, one member of NuBot team, served to MSL community as a member of OC RoboCup 2019 Syndey and TC RoboCup 2020 Bordeaux, France.

• We built a dataset for robot detection which contained fully annotated images acquired from MSL competitions. The dataset is publicly available at: https://github.com/Abbyls/robocup-MSL-dataset

• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which has been employed in China Robot Competition since 2016. Until 2020, 8 teams from China joined the competition and one team decides to join RoboCup MSL in the next few years. It can also be used for the research of multi-robot coordination control and the development of the RoboCup MSL community.

7. Declaration regarding mixed team

No!

8. Declaration regarding 802.11b AP

No!

9. MAC address

The list of our team's MAC addresses can be downloaded from here.

1. Team description Paper

The team description paper can be downloaded from here, with the main contribution of a newly designed three-wheel robot.

2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4]Weijia Yao,Huimin Lu ,Zhiwen Zeng, Junhao Xiao, Zhiqiang Zheng. Distributed Static and Dynamic Circumnavigation Control with Arbitrary Spacings for a Heterogeneous Multi-robot System. Journal of Intelligent & Robotic Systems, 2018. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

3. Results and awards in recent 3 years

2018

• 4th place in MSL scientific challenge in RoboCup 2018, Montréal, Canada

• 3rd place in MSL technique challenge in RoboCup 2018, Montréal, Canada

• 4th place in MSL of RoboCup 2018, Montréal, Canada

• 2nd place in MSL of RoboCup 2018 ChinaOpen, ShaoXing, China

• 2nd place in MSL technique challenge of RoboCup 2018 ChinaOpen, ShaoXing, China

  
  

2017

• 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

• 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

• 4th place in MSL of RoboCup 2017, Nagoya, Japan

• 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

• 1st place in MSL scientific challenge of RoboCup 2016 ChinaOpen, RiZhao, China

2016

• 3rd place in MSL scientific challenge in RoboCup 2016, Leipzig, Germany

• 4th place in MSL of RoboCup 2016, Leipzig, Germany

• 3rd place in MSL of RoboCup 2016 ChinaOpen, Hefei, China

• 1st place in MSL scientific challenge of RoboCup 2016 ChinaOpen, Hefei, China

4. Qualification video

The qualification video for RoboCup 2019 Sydney, Australia can be found at our youku channel(recommended for users in China) or our YouTube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.

• Zhiqian Zhou, one member of Nubot team, served to MSL community as a member of OC RoboCup 2019 Sydney, Australia.

• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which was employed in 2016 and 2017 China Robot Competition. It can also be used for the research of multi-robot coordination control, such as task allocation and formation control.

7. Declaration regarding mixed team

No!

8. Declaration regarding 802.11b AP

No!

9. MAC address

The list of our team's MAC addresses can be downloaded from here.

1. Team description Paper

The team description paper can be downloaded from here, with the main contribution of a newly designed three-wheel robot.

2. 5 Papers in recent 5 years

[1] Wei Dai, Huimin Lu, Junhao Xiao and Zhiqiang Zheng. Task Allocation without Communication Based on Incomplete Information Game Theory for Multi-robot Systems. Journal of Intelligent & Robotic Systems, 2018. [PDF]

[2] Junhao Xiao, Dan Xiong, Weijia Yao, Qinghua Yu, Huimin Lu and Zhiqiang Zheng. Building Software System and Simulation Environment for RoboCup MSL Soccer Robots Based on ROS and Gazebo. Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2), pp. 597-631, Springer, 2017. [PDF]

[3] Sha Luo, Weijia Yao, Qinghua Yu, Junhao Xiao, Huimin Lu and Zongtan Zhou. Object Detection Based on GPU Parallel Computing for RoboCup Middle Size League. Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017), Macau, 2017, pp. 86-91. [PDF]

[4] Wei Dai, Qinghua Yu, Junhao Xiao and Zhiqiang Zheng. Communication-Less Cooperation Between Soccer Robots. RoboCup 2016: Robot World Cup XX, pp. 356-367, Springer, 2016. [PDF]
[5] Dan Xiong, Junhao Xiao, Huimin Lu, et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

3. Results and awards in recent 3 years

2017

• 3rd place in MSL scientific challenge in RoboCup 2017, Nagoya, Japan

• 3rd place in MSL technique challenge in RoboCup 2017, Nagoya, Japan

• 4th place in MSL of RoboCup 2017, Nagoya, Japan

• 3rd place in MSL of RoboCup 2017 ChinaOpen, RiZhao, China

• 1st place in MSL scientific challenge of RoboCup 2016 ChinaOpen, RiZhao, China

2016

• 3rd place in MSL scientific challenge in RoboCup 2016, Leipzig, Germany

• 4th place in MSL of RoboCup 2016, Leipzig, Germany

• 3rd place in MSL of RoboCup 2016 ChinaOpen, Hefei, China

• 1st place in MSL scientific challenge of RoboCup 2016 ChinaOpen, Hefei, China

2015

• 2rd place in MSL technique challenge in RoboCup 2015, Hefei, China

• 3rd place in MSL scientific challenge in RoboCup 2015, Hefei, China

• 6th place in MSL of RoboCup 2015, Hefei, China

4. Qualification video

The qualification video for RoboCup 2018 Montreal, Canada can be found at our youku channel (recommended for users in China) or our YouTube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded from here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as an EC member. He also served as a MSL TC member of RoboCup 2016 Leipzig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou, and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• Junchong Ma, one member of NuBot team, served to MSL community as a member of TC RoboCup 2018 Montreal, Canada.
• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which was employed in 2016 and 2017 China Robot Competition. It can also be used for the research of multi-robot coordination control, such as task allocation and formation control.

1. Team description Paper

The team description paper can be downloaded at here, with the main contribution of a newly designed three-wheel robot.

2. 5 Papers in recent 5 years

[1] Dai, W., Yu, Q., Xiao, J., & Zheng, Z., Communication-less Cooperation between Soccer Robots. In 2016 RoboCup Symposium, Leipzig, Germany. [PDF]

[2] Xiong, D., Xiao, J., Lu, H., et al, The design of an intelligent soccer-playing robot, Industrial Robot: An International Journal, 43(1): 91-102, 2016. [PDF]

[3] Yao, W., Dai, W., Xiao, J., Lu, H., & Zheng, Z. (2015). A Simulation System Based on ROS and Gazebo for RoboCup Middle Size League, IEEE Conference on Robotics and Biomimetics, Zhuhai, China. [PDF]

[4] Lu, H., Yu, Q., Xiong, D., Xiao, J., & Zheng, Z. (2015). Object Motion Estimation Based on Hybrid Vision for Soccer Robots in 3D Space. In RoboCup 2014: Robot World Cup XVIII (pp. 454-465). Springer International Publishing. [PDF]

[5] Lu, H., Li, X., Zhang, H., Hu, M., & Zheng, Z. Robust and Real-time Self-localization Based on Omnidirectional Vision for Soccer Robots. Advanced Robotics, 27(10): 799-811, 2013. [PDF]

3. Results and awards in recent 3 years

2016

• 3rd place in MSL scientific challenge in RoboCup 2016, Leipzig, Germany
• 4th place in MSL of RoboCup 2016, Leipzig, Germany
• 3rd place in MSL of RoboCup 2016 ChinaOpen, Hefei, China
• 1st place in MSL scientific challenge of RoboCup 2016 ChinaOpen, Hefei, China

2015

• 2rd place in MSL technique challenge in RoboCup 2015, Hefei, China
• 3rd place in MSL scientific challenge in RoboCup 2015, Hefei, China
• 6th place in MSL of RoboCup 2015, Hefei, China

2014

• 5th place in RoboCup 2014 João Pessoa Brazil, July 19th~25th
• 3rd place in MSL of RoboCup ChinaOpen,  Hefei, China
• 3rd place in MSL technique challenge of RoboCup ChinaOpen, Hefei, China
• 3rd place in MSL scientific challenge of RoboCup ChinaOpen, Hefei, China
  

4. Qualification video

The qualification video for RoboCup 2017 Nagoya, Japan should be shown below. If it does not appear, it can be found at our youku channel (recommended for users in China) or our youtube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded here.

6. Contributions to the RoboCup MSL community

• Junhao Xiao, one member of NuBot team, served to MSL community as a EC member. He has also served as a MSL TC member of RoboCup 2016 Leipeig, Germany, a member of MSL TC and OC of RoboCup 2015 Hefei, China, and local chair of RoboCup 2015 MSL.
• Huimin Lu, one member of NuBot team, served to MSL community as a member of TC and OC of RoboCup 2008 Suzhou , and he was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.
• We released the source code of our robots and a simulation system under an open source license. Particularly, this simulation system supports 3D simulation of the MSL competition between two teams, which was employed in 2016 China Robot Competition. It can also be used for the research of multi-robot coordination control.

1. Team description Paper 

The team description paper can be downloaded at here, with the main contribution of a Gazebo based simulation system compared to our 2015 TDP.

2. 5 Papers in recent 5 years

[1] Xiong, D.,Xiao, J., Lu, H., Zeng, Z., Yu, Q., Huang, K., ... & Zheng, Z. (2015). The design of an intelligent soccer-playing robot. Industrial Robot: An International Journal, 43(1). [PDF]

[2] Yao, W., Dai, W., Xiao, J., Lu, H., & Zheng, Z. (2015). A Simulation System Based on ROS and Gazebo for RoboCup Middle Size League, IEEE Conference on Robotics and Biomimetics, Zhuhai, China. [PDF]

[3] Lu, H., Yu, Q., Xiong, D., Xiao, J., & Zheng, Z. (2015). Object Motion Estimation Based on Hybrid Vision for Soccer Robots in 3D Space. In RoboCup 2014: Robot World Cup XVIII (pp. 454-465). Springer International Publishing. [PDF]

[4] Lu, H., Li, X., Zhang, H., Hu, M., & Zheng, Z. (2013). Robust and real-time self-localization based on omnidirectional vision for soccer robots. Advanced Robotics, 27(10), 799-811. [PDF]

[5] Lu, H., Yang, S., Zhang, H., & Zheng, Z. (2011). A robust omnidirectional vision sensor for soccer robots. Mechatronics, 21(2), 373-389. [PDF]

3. Results and awards in recent 3 years

2015

2rd place in MSL technique challenge in RoboCup 2015, Hefei, China
3rd place in MSL scientific challenge in RoboCup 2015, Hefei, China
6th place in in the MSL of RoboCup 2015, Hefei,  China

2014

5th place in RoboCup 2014 João Pessoa Brazil, July 19th~25th
3rd place in MSL of 9th RoboCup China Open, October 10th~12th, Hefei, China
3rd place in both MSL technique challenge of RoboCup ChinaOpen, October 10th~12th, Hefei, China

2013

Entering into the top 8 teams in the MSL of RoboCup 2013 Eindhoven
Champion in the MSL technical challenge 1 of 8th RoboCup China Open, Dec 18th~20th, HeFei, China

4. Qualification video 

The qualification video for RoboCup 2016 Leipzeig, Germany should be shown below. If it does not appear, it can be found at our youku channel (recommended for users in China) or our youtube channel (recommended for users out of China).

5. Mechanical and Electrical Description and Software Flow Chart

NuBot Team Mechanical and Electrical Description together with a Software Flow Chart can be downloaded here.

6. Contributions to the RoboCup MSL community

Junhao Xiao, one member of NuBot team, he is served to MSL community as a member of TC of RoboCup 2016 Leipeig, Germany; and has served to MSL community as a member of TC and OC of RoboCup 2015 Hefei, China, and he has also been appointed as the local chair of RoboCup 2015 MSL.

Huimin Lu, one member of NuBot team, served to MSL community as member of TC and OC of RoboCup 2008 Suzhou , and He was also appointed as the local chair of RoboCup 2008 MSL. He was a member of TC of RoboCup 2011 Istanbul.