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The RoboCup tournaments foster research in the area of autonomous robotics and cooperative behaviour. Recently, modifications to the rules were adopted promoting further developments towards a typical human playing ground. Some simplifications such as constant lighting were dropped and further modifications will follow in the next years. Regarding team cooperation and coordination, the most important change in 2007 is the enlargement of the playing field. The maximum number of players in a team has been increased to 6; for the long time goal the number of players will approach 11. For research groups it may be difficult to keep up with the enlargement of team sizes, for newcomers it even constitutes a virtually infeasible financial effort. This is why so-called mixed teams gain a lot of popularity. Here, two or more research groups pool their resources together to provide a joint, more powerful team (Nardi et al., 1999; Castelpietra et al., 2000). This implies that different hardware and software systems have to communicate and collaborate. A number of problems have to be faced which arise from the heterogeneity of the systems involved. Among other things, the interpretation of different representations, the fusion of information to a consistent world view, and the realization of team-play strategies on the different platforms are predominant questions. In order to cope with these challenges, we have adopted a model-driven software development approach. Below we introduce our development environment for communication infrastructures. Afterwards, we summarize our research activities towards a model-driven development approach for modelling cooperative behaviour in teams of autonomous soccer robots. A deta iled example describes the creation of a software infrastructure for a mixed-team of soccer robots. It illustrates the benefits of our development environment and highlights our contribution. We conclude with a presentation of our vision for further developments.

Communication and Collaboration in Heterogeneous Teams of Soccer Robots