Carpe Noctem Cassel Team Description 2016

In this paper we describe the most important improvements of our middle-size league robots in the last year. Concerning the software components, we ported our framework to C++ and implemented a new localization algorithm, which provides global localization with a low computational overhead. Furthermore, we developed our new hardware devices, which improve the maintainability and robustness of our robots. In particular, we made a new concept for the kicking and ball-handling mechanism, the omni-vision, and the low-level actuation control device.