Comments and General Information:
The robot is built around a PC-like motherboard running a customised version of the Linux kernel. Two brushless DC motors provide the power to move and 4 optical USB mice the required odometry feedback. Additional sensors include onboard and offboard (wireless) CMOS cameras and optical reflective infra red sensors to detect the color of the floor bellow the robot. Unique helix storage system is the base for ball manipulation. The software side includes MCL (Monte Carlo Localization) position tracking, RRTs (Rapidly-Exploring Random Trees) path planner and fast image analysis based on color tresholding.