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 Saturationp. 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 p. 183 Position 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

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 p. 304 Algorithm for the Robotic Soccer 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 p. 363 Training

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 p. 395 Small-Size League Rolling Shutter Image Compensation p. 402 Evaluating Learning Automata as a Model for Cooperation in Complex Multi-agent p. 410 Domains 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

Ego-Motion Estimation and Collision Detection for Omnidirectional Robots p. 466 Integrating Simple Unreliable Perceptions for Accurate Robot Modeling in the p. 474 Four-Legged League Distributed, Play-Based Coordination for Robot Teams in Dynamic Environments p. 483 Development of an Autonomous Rescue Robot Within the USARSim 3D Virtual Environmentp. 491

Appearance-Based Robot Discrimination Using Eigenimages p. 499 Fuzzy Naive Bayesian Classification in RoboSoccer 3D: A Hybrid Approach to Decision p. 507 Making A Novel Omnidirectional Wheel Based on Reuleaux-Triangles p. 516 Development of Three Dimensional Dynamics Simulator with Omnidirectional Vision p. 523 Model 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 p. 556 Rescue Simulation League Author Index p. 565 Table of Contents provided by Blackwell's Book Services and R.R. Bowker. Used with permission.