Cerberus’10 SPL Team H. Levent Akın, Tekin Meric ¸li, N. Ergin ¨ Ozkucur, Can Kavaklıo˘ glu, and Barıs ¸ G¨ okc ¸e Bo˘ gazic ¸i University, Department of Computer Engineering 34342 Bebek, ´ Istanbul, TURKEY {akin, tekin.mericli, nezih.ozkucur, can.kavaklioglu, sozbilir}@boun.edu.tr 1 Introduction The Cerberus team made its debut in the RoboCup 2001 competition. This was the first international team participating in the league as a result of the joint research effort of a group of students and their professors from Bo ˘ gazic ¸i University (BU), Istanbul, Turkey and Technical University Sofia, Plovdiv branch (TUSP), Plovdiv, Bulgaria. The team competed in all RoboCups between 2001 and 2009 except the year 2004. Currently Bo˘ gazic ¸i University is maintaining the team. In 2005, despite the fact that it was the only team competing with ERS-210s (not ERS210As), Cerberus won the first place in the technical challenges. The team competed in both RoboCup 2008 and RoboCup 2009 competitions with the Nao robots. In 2009, Cerberus made it to the second round and also got the fifth place in the technical challenges. From the very beginning, Cerberus has chosen to develop all the components of the software to form the basis for a more general robotics research rather than to be used for soccer only. Through the years, the members of the team have done many PhD and MS Thesis studies related to the SPL and published more than 40 papers in journals and international conferences, including the RoboCup Symposia 1 . The organization of the rest of the paper is as follows. The software architecture is described in Section 2. In Section 3, the details of the vision module are provided. Self localization method is described in Section 4. The locomotion module and gait optimization methods used are explained in Section 5. Finally, various approaches we use for the planning module are described in Section 6. 2 Software Architecture Software architecture of Cerberus consists of mainly three parts: – BOUNLib – Cerberus Player – Cerberus Station Fig. 1 illustrates the general structure of our most generic software architecture, including the Cerberus code base. 1 The full list of Cerberus publications are available here: http://robot.cmpe.boun.edu.tr/ ˜ cerberus/wiki/index.php?n= Publications.Publications