Play ball! Robot detection system in the soccer domain

The automatic detection and identification of robots, as well as the recognition of their behavioral patterns, is of increasing importance in multirobot scenarios. Multirobot systems are becoming relevant as a result of the increasing number of industrial, service, and exploration robots in current use. Thus, collaborative robot behaviors will be of high importance in scientific and industrial application areas such as ground, space, and underwater exploration; entertainment; surveillance; human assistance; manipulation and assembly of objects in industrial environments; and autonomous rescue operations. In addition, individual robots (robots not belonging to a given team) will need to interact and, in some cases, collaborate with other robots while performing different tasks in a common environment, more and more frequently