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Autonomous robotics

EROS

Humanoid Robot Soccer

Gameplay intelligence, inter-robot communication, motion integration, and robot-state coordination for autonomous humanoid soccer robots.

View EROS team site
Role
Software Engineer · Intelligent & Communication
Team
EROS · PENS Robot Soccer Team
Focus
Gameplay behavior · ROS integration · Robot communication
Project status
Active team project · 2024 to Present

Context & challenge

EROS is PENS’s humanoid robot soccer team, developing autonomous robots for collaborative play in a fast-changing match environment.

My contribution sits at the boundary between gameplay behavior, robot state, motion services, localization, and team communication. The work is collaborative and builds on interfaces maintained across the wider robotics team.

Field documentation

Public team demonstrations and representation activities at PENS × ITE and Berdikari 2025.

EXHIBITION · PENS × ITE

Humanoid Robot Soccer Demonstration

EROS team presentation and robot demonstration for visitors at the PENS × ITE exhibition.

DISSEMINATION · BERDIKARI 2025

Team Display at Berdikari 2025

EROS team representation and project display at Berdikari 2025.

My contribution

  1. Intelligent behavior

    Gameplay decisions and finite-state-machine skills

    Contributed keeper and match strategy, obstacle handling, ball-tracking conditions, frame selection, and finite-state-machine-based skills for autonomous match situations.

  2. Communication

    Inter-robot data and team-state coordination

    Improved communication data handling, robot-ID selection, and message and node integration used to coordinate robot state across the team.

  3. ROS integration

    Motion services and odometry coordination

    Connected intelligent behavior to the ROS motion-step service and integrated odometry read, set, reset, anchor, and correction flows through navigation and service interfaces.

  4. Technical communication

    Software session at EROS Workshop 2025

    Contributed as a software presenter, teaching C++ fundamentals and an introduction to basic ROS concepts for workshop participants.

  5. Team representation

    EROS booth at PENS × ITE and Berdikari 2025

    Represented EROS at the booth by explaining and demonstrating the robot to event visitors.

Runtime architecture

The contribution connects match behavior with shared robot state and runtime interfaces, while keeping each subsystem responsible for its own observations, decisions, and execution.

  1. Perception & state

    • Ball and obstacle observations
    • Robot pose and odometry

  2. Intelligent

    • Strategy
    • FSM behavior
    • Individual skills

  3. Communication

    • Inter-robot messages
    • Team-state coordination

Runtime interfaces

  1. ROS messages
  2. ROS services
  3. Motion and navigation nodes

Technology stack

  • C++
  • ROS
  • UDP
  • ROS Messages & Services
  • Finite State Machine

Contribution outcomes

These outcomes reflect software contributions within an active team project, not claims of sole ownership of the robot system.

  1. More reliable gameplay behavior

    Keeper strategy, obstacle responses, ball-tracking conditions, and frame selection are better connected to autonomous match decisions.

  2. Clearer subsystem boundaries

    Gameplay logic, shared robot state, communication, motion, and navigation connect through more explicit ROS messages and service interfaces.

  3. Stronger software foundation

    The ongoing work reinforces maintainable behavior, communication, and odometry coordination for future team development.