CMDragons 2010 Team Description

In this paper we present an overview of CMDragons 2010, Carnegie Mellon's entry for the RoboCup Small Size League. Our team builds upon the research and success of RoboCup entries in previous years. The overview describes both the robot hardware and the general software architecture of our team. Technical improvements include a new attacker control system, a short-term physics-based motion planner, and an experimental system for inferring opponent state from ball dynamics observations.