Karachi Koalas 3D Simulation Soccer Team Team Description Paper for World RoboCup 2013 Sajjad Haider 1 , Mary-Anne Williams 2 , Saleha Raza 1 , Benjamin Johnston 2 , Shaukat Abidi 2 , Ali Raza 1 , Abdun Nafay 1 , Nabeel Rajput 1 , Safeer-e-Hussain 1 , Sojharo 1 1 Artificial Intelligence Lab, Institute of Business Administration, Karachi, Pakistan 2 Innovation and Enterprise Research Lab, University of Technology, Sydney, Australia http://karachikoalas.iba.edu.pk sajjad.haider@khi.iba.edu.pk, mary-anne.williams@uts.edu.au, Abstract. This paper describes the research and development efforts made by Karachi Koalas as it aims to participate in 2013 RoboCup Soccer competitions. We have made several changes to our robot team that participated in 2012 World RoboCup Soccer. The localizer has been improved and now robots utilize both markers and lines to estimate their location in the ground. The localizer is further strengthened by adding a Kalman filter layer that sits on top of it and provides a smooth estimate of a robot’s location and the ball position. An enhanced collision avoidance mechanism has also been added to the code. In addition, work is currently under progress to have a Voronoi diagram based team formation and dynamic programming based role assignment. 1 Introduction Karachi Koalas team was formed in the mid of 2010 as a result of a strong and further evolving scientific partnership between University of Technology, Sydney (UTS) and Institute of Business Administration, Karachi (IBA). In 2011 and 2012, we participated in World RoboCup competition and reached the top 16 and top 10 groups, respectively. UTS has a strong commitment to the RoboCup competition and has been a frequent participant in the Standard Platform League starting from 2003. It won the Australian RoboCup Championship competition in 2004 and was the top International Team in 2004 at Robot Soccer World Cup where it came first in the Soccer Challenges and second in the Soccer Games. In 2008, it formed a joint Standard Platform League team, named WrightEagleUnleashed [13], with University of Science and Technology China, which was the Runner-Up of 2008. Several papers have been published by the team members on RoboCup related research topics that demonstrate its commitment and contribution to the advancement of RoboCup [1-12]. The rest of the paper describes the development environment and code architecture of Karachi Koalas. In addition, it also provides an overview of the advancements made in locomotion, localization and team/agent behavior and a list of high priority tasks we aim to finish before the competition.