@TechReport{	  it:2006-012,
  author	= {Marianne Ahlford and Martin Andersson and Hanna Blomquist
		  and Magnus Ekstr{\"o}m and Lars Ericsson and Johannes
		  Gumbel and Anna Holmgren and Petter Holmberg and Leonard
		  Kia and Anton Lindstr{\"o}m and Magnus Lyrberg and Shaman
		  Mahmoudi and Bengt Nolin and Jesper Sundien and Henrik
		  Wallentin and Olle G{\"a}llmo and Anders Hessel and Leonid
		  Mokrushin and Paul Pettersson},
  title		= {Uppsala {U}nderdogs - A Robot Soccer Project},
  institution	= {Department of Information Technology, Uppsala University},
  department	= {Division of Computer Systems},
  year		= {2006},
  number	= {2006-012},
  month		= mar,
  abstract	= {In this paper, we describe the four-legged soccer team
		  Uppsala Underdogs developed by a group of 4th year computer
		  science students at Uppsala University during the fall of
		  2004. The project is based on the experience from two
		  similar previous projects. This year the emphasis of the
		  project has been on distribution of data and on support for
		  evaluation and reconfiguration of strategies. To support
		  data distribution, a middleware has been developed, which
		  implements a replication algorithm and provides a clean
		  interface for the other software modules (or behaviors). To
		  enable easy reconfiguration of strategies, an
		  automata-based graphical description language has been
		  developed, which can be compiled into code that uses the
		  database and the lower level modules, such as tactics and
		  positioning, to make decisions and control the robot. In
		  addition, a graphical simulator has been developed in which
		  the strategies can be evaluated.}
}