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The paper describes the VUB AI-Lab team competing in the small robots league of RoboCup '98 in Paris. The approach of this team targets for a longterm evolution of different robots, team-structures, and concepts. Therefore, the efforts for the '98 participation focus on the provision of a flexible architecture, which forms a basis for this goal. In doing so, the development of the so-called RoboCube constitutes a milestone on this road. The RoboCube is an extremely compact robot controller providing quite some computation power, memory, various I/O interfaces, and radio communication. It facilitates the use of many sensors and effectors, including their on-board processing, allowing to explore a large space of different robots and team set-ups. Accordingly, the '98 VUB AI-Lab team consists of heterogeneous robots. The paper describes their important electromechanical features like drive units and shooting mechanisms. In addition, the radio communication, the basic control algorithms and the global vision system are described. Last but not least, first steps towards a general coordination scheme are explained, which is meant to cope with changing compositions of heterogeneous groups.

The small league RoboCup team of the VUB AI-Lab