Results

As you can see from the video below, the project worked relatively well.

• • In 1 vs. 0, the robot was able to avoid objects, track the ball, and score a goal.

  • In 1 vs. 5 (randomly moving), the robot was able to path plan around the dynamic obstacles successfully.

  • In 2 vs 2, the both goalies successfully passes a "through ball" to the aggressor at the expected time.

  • In 3 vs 3, the aggressor and wingman successfully switch states dynamically.