I’ve set up the foundations. It is working whimsically as of now, but it has great promise. It is certainly necessary to perfect this since the full game test we made today caused all 3 dogs to get stuck into each other and couldn’t continue playing unless taken away from each other. In a real game they would have all gotten penalized for 30 seconds…Not a good thing!
Before the dog goes into approach state, it considers whether there is another dog that is closer to the ball. If there is, stay put. This is all based on communicated localization from other dogs on the field. Eventually, we could give idle standers-by some other work while a single robot approaches the ball.