Cerqueira, V.Dias, AndréMatos, NunoAlmeida, J. M.Martins, A.Silva, E. P.2015-11-232015-11-232004972-752-066-9http://hdl.handle.net/10400.22/6987Proceedings of the Scientific Meeting of the Portuguese Robotics Open 2004This paper describes the recent modifications in ISePorto MSL robotic football team and future improvements concerning the development and evolution of the team. The robot was substantially redesigned in order to achieve high reliability, allow better control and coordination capabilities and substantial increase in perception. New mechanical and hardware redesign is presented. Motion control subsystems, new vision hardware sensor and overall architecture are described. The team redesign is done for preparation for participating in the Robocup 2004. The main goal is to achieve not only an important evolution in the team control and coordination but also increased overall reliability.engMobile roboticsRobot architecturesMechanical robot designRobotic soccerRobocupjournal article