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Uploaded on May 28, 2010
This video shows a goal scored by our team CMDragons at RoboCup 2009. The attacking robot uses a novel dribbling behavior which employs randomized, physics-based motion planning to make tactically sound navigation decisions while remaining in full dynamic control of the ball.
The underlying planning algorithms are described in my PhD Thesis "Physics-Based Robot Motion Planning in Dynamic Multi-Body Environments" (CMU-CS-10-115), Stefan Zickler, 2010.