Stefano Carpin and Mike Lewis and Jijun Wang and Steve Balakirsky and Chris ScrapperMarco Zaratti and Marco Fratarcangeli and Luca IocchiNorbert Michael Mayer and Joschka Boedecker and Rodrigo da Silva Guerra and Oliver Obst and Minoru AsadaGiovanni Indiveri and Jan Paulus and Paul G. PlogerTobias Latzke and Sven Behnke and Maren BennewitzPeggy Fidelman and Peter StoneShivaram Kalyanakrishnan and Yaxin Liu and Peter StoneHayato Kobayashi and Tsugutoyo Osaki and Eric Williams and Akira Ishino and Ayumi ShinoharaManish Saggar and Thomas D'Silva and Nate Kohl and Peter StoneJiang Dawei and Wang ShiyuanRachel Goldman and M.Q. Azhar and Elizabeth SklarStefan EnderleWalter Nistico and Matthias Hebbel and Thorsten Kerkhof and Christine ZargesDaniel Stronger and Peter StoneSven Olufs and Florian Adolf and Ronny Hartanto and Paul PlogerRaul Rojas and Mark Simon and Oliver TenchioAlberto Colombo and Matteo Matteucci and Domenico G. SorrentiJavier Ruiz-del-Solar and Patricio Loncomilla and Paul VallejosPeggy Fidelman and Thayne Coffman and Risto MiikkulainenDavid Billington and Vlad Estivill-Castro and Rene Hexel and Andrew RockHauke Strasdat and Maren Bennewitz and Sven BehnkeJan HoffmannMohan Sridharan and Peter StoneDaniel Gohring and Jan HoffmannLuca IocchiXiang Li and Andreas ZellVadim KyrylovMatthias Hebbel and Walter Nistico and Denis FisselerPatrick Heinemann and Jurgen Haase and Andreas ZellBjorn Gottfried and Jorn WitteV. Estivill-Castro and S. SeymonD. Herrero-Perez and H. Martinez-BarberaMichael Isik and Freek Stulp and Gerd Mayer and Hans UtzPatrick Heinemann and Frank Sehnke and Felix Streichert and Andreas ZellMarkus Geipel and Michael BeetzAlfredo Weitzenfeld and Peter Ford DomineyJurgen Sturm and Paul van Rossum and Arnoud VisserSaori Umemura and Kazuhito Murakami and Tadashi NaruseSteven P. Nicklin and Robin D. Fisher and Richard H. MiddletonMohammad Reza Khojasteh and Mohammad Reza MeybodiRyota Nakanishi and James Bruce and Kazuhito Murakami and Tadashi Naruse and Manuela VelosoSteffen Planthaber and Ubbo VisserSteffen Pruter and Ralf Salomon and Frank GolatowskiLuca Marchetti and Giorgio Grisetti and Luca IocchiWinai Chonnaparamutt and Andreas BirkIvan Delchev and Andreas BirkMartin LauerTim Laue and Thomas RoferColin McMillen and Manuela VelosoGiuliano Polverari and Daniele Calisi and Alessando Farinelli and Daniele NardiSascha Lange and Martin RiedmillerCarlos Bustamante and Leonardo Garrido and Rogelio SotoJochen Brunhorn and Oliver Tenchio and Raul RojasFumitaka Otsuka and Hikari Fujii and Kazuo YoshidaJames Bruce and Manuela VelosoMarek Marcinkiewicz and Mikhail Kunin and Simon Parsons and Elizabeth Sklar and Theodore RaphanA. Tuna Ozgelen and Elizabeth Sklar and Simon ParsonsIvette C. Martinez and David Ojeda and Ezequiel A. Zamora

Full Papers
Simulation and Control
Bridging the Gap Between Simulation and Reality in Urban Search and Rescue	p. 1
A 3D Simulator of Multiple Legged Robots Based on USARSim	p. 13
3D2Real: Simulation League Finals in Real Robots	p. 25
Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation	p. 35
Learning
Imitative Reinforcement Learning for Soccer Playing Robots	p. 47
The Chin Pinch: A Case Study in Skill Learning on a Legged Robot	p. 59
Half Field Offense in RoboCup Soccer: A Multiagent Reinforcement Learning Case Study	p. 72
Autonomous Learning of Ball Trapping in the Four-Legged Robot League	p. 86
Learning, MAS, and Education
Autonomous Learning of Stable Quadruped Locomotion	p. 98
Using the Simulated Annealing Algorithm for Multiagent Decision Making	p. 110
From RoboLab to Aibo: A Behavior-Based Interface for Educational Robotics	p. 122
The Robotics and Mechatronics Kit "qfix"	p. 134
Vision
Cooperative Visual Tracking in a Team of Autonomous Mobile Robots	p. 146
Selective Visual Attention for Object Detection on a Legged Robot	p. 158
Towards Probabilistic Shape Vision in RoboCup: A Practical Approach	p. 171
Parabolic Flight Reconstruction from Multiple Images from a Single Camera in General Position	p. 183
Vision and Localization
On the Calibration of Non Single Viewpoint Catadioptric Sensors	p. 194
An Automated Refereeing and Analysis Tool for the Four-Legged League	p. 206
Detecting Motion in the Environment with a Moving Quadruped Robot	p. 219
Using Temporal Consistency to Improve Robot Localisation	p. 232
Multi-cue Localization for Soccer Playing Humanoid Robots	p. 245
Proprioceptive Motion Modeling for Monte Carlo Localization	p. 258
Posters
Session 1 Autonomous Planned Color Learning on a Legged Robot	p. 270
Sensor Modeling Using Visual Object Relation in Multi Robot Object Tracking	p. 279
Robust Color Segmentation Through Adaptive Color Distribution Transformation	p. 287
H[subscript infinity] Filtering for a Mobile Robot Tracking a Free Rolling Ball	p. 296
Balancing Gains, Risks, Costs, and Real-Time Constraints in the Ball Passing Algorithm for the Robotic Soccer	p. 304
Learning in a High Dimensional Space: Fast Omnidirectional Quadrupedal Locomotion	p. 314
A Novel Approach to Efficient Monte-Carlo Localization in RoboCup	p. 322
Representing Spatial Activities by Spatially Contextualised Motion Patterns	p. 330
Mobile Robots for an E-Mail Interface for People Who Are Blind	p. 338
Robust and Efficient Field Features Detection for Localization	p. 347
Coordination Without Negotiation in Teams of Heterogeneous Robots	p. 355
Towards a Calibration-Free Robot: The ACT Algorithm for Automatic Online Color Training	p. 363
Session 2 Learning to Shoot Goals Analysing the Learning Process and the Resulting Policies	p. 371
Cognitive Robotics: Command, Interrogation and Teaching in Robot Coaching	p. 379
Panoramic Localization in the 4-Legged League	p. 387
Orientation Extraction and Identification of the Opponent Robots in RoboCup Small-Size League	p. 395
Rolling Shutter Image Compensation	p. 402
Evaluating Learning Automata as a Model for Cooperation in Complex Multi-agent Domains	p. 410
Cooperative 3-Robot Passing and Shooting in the RoboCup Small Size League	p. 418
Logfile Player and Analyzer for RoboCup 3D Simulation	p. 426
Local Movement Control with Neural Networks in the Small Size League	p. 434
A Comparative Analysis of Particle Filter Based Localization Methods	p. 442
A New Mechatronic Component for Adjusting the Footprint of Tracked Rescue Robots	p. 450
Vectorization of Grid Maps by an Evolutionary Algorithm	p. 458
Session 3 Ego-Motion Estimation and Collision Detection for Omnidirectional Robots	p. 466
Integrating Simple Unreliable Perceptions for Accurate Robot Modeling in the Four-Legged League	p. 474
Distributed, Play-Based Coordination for Robot Teams in Dynamic Environments	p. 483
Development of an Autonomous Rescue Robot Within the USARSim 3D Virtual Environment	p. 491
Appearance-Based Robot Discrimination Using Eigenimages	p. 499
Fuzzy Naive Bayesian Classification in RoboSoccer 3D: A Hybrid Approach to Decision Making	p. 507
A Novel Omnidirectional Wheel Based on Reuleaux-Triangles	p. 516
Development of Three Dimensional Dynamics Simulator with Omnidirectional Vision Model	p. 523
Real-Time Randomized Motion Planning for Multiple Domains	p. 532
Towards a Methodology for Stabilizing the Gaze of a Quadrupedal Robot	p. 540
Automatic Acquisition of Robot Motion and Sensor Models	p. 548
Ambulance Decision Support Using Evolutionary Reinforcement Learning in Robocup Rescue Simulation League	p. 556
Author Index	p. 565