This paper describes the CMUnited-99 small-size robot team. The team
builds on our previous RoboCup champion teams ('97 and '98). The team
reuses much of the hardware, perception, and strategy software from
CMUnited-98. This description summarizes some of the features from
past teams that are used in CMUnited-99. It focuses on our robust
motion control algorithm and the team's individual and team behaviors.
We conclude with the extensions planned for CMUnited-99.
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