To participate at RoboCup competitions, we maintenance six soccer robots. One goalkeeper and five field players. A new generation is currently developed, for staying competitive with other teams. We also own some of the Surveyor SRV-1 Blackfin robots, including some accessories like a stereo vision system or a grabber. A real novelty is the octocopter construction set.
As in every distributed system, the target is to develop software, which makes an interaction or even a cooperation between the different components possible. But without any sensors one component can neither percept actions of other components nor its own environment. Therefore, several additional sensors, which are deployable into a robot or external and accessible by a robot, are available. The most important sensor for our robots is a camera. We have different cameras according to different applications: Point Grey - Flea 2 and Grasshopper, Sony - PlayStation Eye and IDS-Imaging - UEye. Furthermore, we own some range sensors: Microsoft - Kinect, Robot-Electronics - Ultrasonic SRF08, Hokuyo Automatic CO. - Laser Range Finder UTM-30LX, Sharp Optoelectronics - Infrared Proximity Sensor and Analog Devices - Capacitive Sensor Board. Last but not least there are also some small sensors, helpful for the localisation problem of the robots: STMicroelectronics - Triple Axis Accelerometer, Melexis - Gyro and Robot-Electronics - Compass CMPS03.
The robots are able to percept the environment and other components of the distributed systems with the help of the sensors mentioned above. For an interaction actors are as important as sensors. Here is a list of external actors potentially controlable by our robots: Crust Crawler - Robotic Arm, Maxon or Faulhaber - 90-180 Watts DC Motors and several servos by different companies.