CAMBADA’2007: Team Description Paper

The CAMBADA middle-size robotic soccer team is des cribed in this paper for the purpose of qualification to RoboCup’2 007. The robots have been developed from scratch in the last four years and, unlike other approaches, using home-made mechanical parts and basic electron i modules. Previous experience of some elements of the team in the Robo Cup Simulation League has been highly relevant particularly in the design of the high-level coordination and control framework.