RoboCup Crailsheim: ER-Force vs. LUHbots

The second day has now begun, and we have our first match of the tournament, playing against the LUHBots from Hanover, who are aiming for their first promotion to Division A this year.

First Half


5:00 The game starts on time; we are playing as the yellow team against the blue LUHBots. We have the kickoff; unfortunately, the first pass goes nowhere.

4:42 We intercept the LUHBots’ throw-in, advance forward, and attempt the first shot on goal. The LUHBots’ defense holds, but we get a corner.

4:34 The corner was skillfully defended by the Hanover team, but now no robot seems to have any interest in the ball.

4:16 As expected at this stage of the tournament, the league software is still experiencing minor issues. Currently, there’s a discussion about the functionality of the GameController, and shortly after, the vision in one corner of the field fails.

4:12 The radio of one robot seems to be malfunctioning. We take a timeout to investigate further, but it appears to be a robot issue.

3:58 The game continues, now without our robot 5. This doesn’t stop us; we take a shot from our half that reaches the goalkeeper.

3:12 A series of duels ensue, but our robots seem distracted by the spectators and leave gaps. LUHBots repeatedly win the ball but are promptly stopped again.

2:50 Despite many attempts by the LUHBots, we remain firmly in their half. After another duel, the vision loses both robots, leading to a brief interruption.

2:26 Our AI seems to misjudge the position of the barriers at the edge and stubbornly refuses to get closer than 30cm. Our software team watches this with little enthusiasm.

2:14 Another corner for us. We play a dangerous pass past their defense area, which is then shot directly into the goal!

2:14 Unfortunately, the goal is invalid as one of our robots rammed a defender just before the shot, which is a foul.

1:46 Another corner for us, our pass to the middle is received but not converted.

1:30 One of our robots tries to shoot the ball three times but only manages to do so with very little force.

1:13 The same robot has now overcome its stage fright, shoots – and scores!

1:13 This time the goal counts, making it 1:0 for ER-Force!

ER-Force 1 : LUHbots 0

1:13 We raise a challenge flag to question the referee’s decision on the first goal (and to test if the challenge flag mechanism works). Our argument is that the foul was too long ago to disallow the goal. The referee agrees, making it 2:0 for ER-Force!

ER-Force 2 : LUHbots 0

0:56 After the LUHBots’ kickoff, we advance back into their half and don’t intend to leave it again.

0:31 A duel succeeds, and we pass to the middle. Our striker stumbles on the reception but then turns and scores! It’s now 3:0 for ER-Force.

ER-Force 3 : LUHbots 0

And that ends the first half. Now we prepare for the second half and try to get our robot 5 back on the field.

Second Half


5:00 We start the second half refreshed with 6 robots again.

4:55 The kickoff is immediately shot out of bounds. We try and fail at ball placement, but the LUHBots also fail to place the ball. Thus, we have a free kick.

4:36 A bizarre situation: Our pass is blocked by the defense, and after a duel in front of the penalty area, the defense chips the ball into their own goal! This creates a borderline case in the rules, as chipped goals over opponents are usually invalid, but the LUHBots shot over their own robots. Now it’s questionable whether this rule applies to own goals. The referee decides not to allow the goal.

4:26 We fail again at ball placement, as our software still expects the wall to be in the wrong place and refuses to approach the ball.

4:12 A duel at the LUHBots’ defense, we are slightly pushed off and thus touch the ball in the opposing defense area. Unfortunately, that’s a foul.

4:04 We intercept the LUHBots’ free kick and score directly!

ER-Force 4 : LUHbots 0

4:01 The robots of both teams are running relatively well, with only three substitutions so far. We’ve only made one substitution, a new record for us! Now the LUHBots take one of theirs off the field.

3:43 We pass to the corner and stand in front of an open goal, but our robot can’t decide on a shooting angle and just fidgets in front of the ball, unfortunately a missed opportunity.

3:18 During the LUHBots’ ball placement, we are in the way and thus commit a foul. We receive a yellow card, but it doesn’t affect our current player count.

3:13 An unsuccessful duel in front of the defense. During ball placement, a LUHbot decides to smooth the ball with its dribbler. Meanwhile, we notice a robot that is no longer reliably responding to our commands. We take a timeout and are forced to remove the robot. Now we are outnumbered on the field.

2:46 Despite an overwhelming number of LUHBots attacking us, we win a duel in front of the defense and get the ball to a robot covered by three LUHBots. However, the subsequent shot on goal fails.

2:31 Corner for ER-Force. We make a high shot over the defenders, but no teammate is ready to receive it. The ball goes out of bounds.

2:29 Neither team can get the ball off the wall, so the referee places the ball manually.

2:28 Two repaired robots come from our team area. We take a timeout to test them and bring them back into the game.

2:28 At least one robot can return; the other seems to have also damaged its shooting module.

2:12 Oh dear, what a mishap! The robot we substituted had the wrong team color set! The LUHBots unsuccessfully try to contact it, and we complain that there is no new yellow robot. After much laughter, this is corrected.

1:50 Corner for ER-Force. We shoot a wonderful unmarked pass to the middle, but the receiving robot just watches the ball as it passes by.

1:46 We intercept the LUHBots’ throw-in and are back in their half.

1:33 We dribble the ball impressively in a circle in front of the defense, but uselessly.

1:10 After a throw-in for the LUHBots, they commit a double touch, giving us a free kick. We pass to the middle, our robot turns, shoots – and scores! Goal for ER-Force.

ER-Force 5 : LUHbots 0

1:10 We substitute a robot just to test how much time the new rules allow for substitution. We immediately substitute it back in.

0:27 Impressive pass combination forward. Our robot stands with the ball in front of the defense but again can’t decide to shoot.


And after a few more duels, the game ends with a decisive victory for ER-Force!

Final Score:

ER-Force 5 : LUHbots 0

Note: The above information is based on the public communication of the organizer. Our club is not the organizer of the tournament and therefore cannot independently verify the information.

Invitation to Team Meetings

Prospective members are cordially invited to our weekly subteam meetings starting from the week after next (07.11)!
We will skip the meeting on Halloween 😉

You are all welcome to attend any team meetings that interest you and get some initial detailed insights.
If you’re unable to make it that week, there’s no problem joining us the following week.

Many of the meetings take place in the Robolab.
It is located in the blue high-rise building on the second floor and has the room number 02.171-113.
There’s a large green poster on the door.

The basement is the room where the open workshop day took place.
The room number is U1.154-113.

If you have any questions, feel free to contact info@robotics-erlangen.de 🙂

Here are the details for the individual meetings:

Mechanics:

  • Time: Tuesday, 4:30 PM
  • Location: Basement

Electronics:

  • Time: Tuesday, 6:00 PM
  • Location: Robolab

Firmware/Control:

  • Time: Wednesday, 6:00 PM
  • Location: Robolab
  • A personal laptop is unfortunately mandatory for this meeting.

Strategy/Software:

  • Time: Tuesday, 4:00 PM
  • Location: Robolab
  • If many people come, we will move to a seminar room. Additional information will be provided if necessary.
  • A personal laptop is unfortunately mandatory for this meeting. Linux and Windows work best; Mac requires some tinkering.

Open Workshop Day – 26.10.2023

Are you interested in our robots or our club?

Then October 26, 2023, is the perfect date for you because we are holding our Open Workshop Day on this day.


You can find us in U1.154 in the basement of the blue Computer Science building, Martensstraße 3 at the TechFak. We will clearly mark the room that evening, and you can come by any time between 4 PM and 7 PM. If any changes are necessary due to the current situation, we will provide updated information here.

We look forward to seeing you on October 26.

BuGa 2023: Conclusion

As the tournament at the Bundesgartenshow (BuGa) is now coming to an end and we have secured an excellent second place, we’d like to take a moment to reflect on our journey.

Compared to the RoboCup 2023 in Bordeaux, we were able to significantly improve our performance with the new robots: The radio communication issues have been completely resolved, and our robots executed their driving commands as precisely as they haven’t in years. This clearly demonstrates the advantage of robust industrial solutions like the HBC radio system compared to our previous custom solutions.

The motor board problems have also nearly disappeared as a result. The theory here is as follows: When our robots don’t receive radio signals, they shut down all wheel modules as a safety measure to avoid being a hazard to people and themselves. However, this also results in an abrupt shutdown of all wheel motors, and the remaining current circulating through them, due to the electrical principle of inductance, which dictates that current through electric motors cannot cease instantaneously, can lead to defects in the Motor Controller Boards.

So, when we have radio communication issues, the modules are regularly and unexpectedly shut down. When everything works smoothly, the activation and deactivation maneuvers are carefully controlled at the beginning and end of a game: The motors are brought to a halt by the AI, and then the modules are shut down.

Aside from these two issues, the new robots required very little maintenance—compared to their predecessor generation as well. Only some motor connectors showed problems on the board side: It seems that the through-hole connections of the pads are breaking, causing the power lines on the Power Distribution Board to detach from the motor. We were able to prove this through resistance measurements.

Since we also had problems with our shooting board (same PCB manufacturer)—back then, the solder mask had peeled off from almost all traces at certain spots—we seriously need to consider switching to a different PCB manufacturer.

Nevertheless, it was an excellent tournament that reinvigorated not only our robots but also the spirits of many team members. The enthusiasm is clearly noticeable among all the present members. The positive developments of the other teams since the RoboCup—especially RoboTeam Twente, whose performance improved drastically over the last month—have further fueled our members’ motivation. And so, after the final match, we actively joined the other teams in dismantling the tournament.

We are already looking forward to competing against all the amazing teams at the next European event. It was a pleasure playing against them this weekend. And so, we bid you a heartfelt farewell from the BuGa!