This paper describes the robot soccer initiative of the Singapore Polytechnic, designed to
participate in the Robocup-99 held in conjunction with IJCAI in Stockholm, Sweden. The
system consists of four medium sized autonomous robots, each carrying its own perception
system and on-board processor. The perception system includes an on-board vision system
and infrared transceivers to collect environmental information such as the presence of a wall,
obstacle (robot) or ball. The micro-controller used is the Intel 80196KC. The environmental
information collected has to be processed to enable a quick decision on the required action of
the robot. The reaction of the robot may be to avoid an obstacle, approach a ball, block the
ball (in the case of the goal keeper), and to pass, intercept, dribble or shoot the ball.
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