Gonçalves, JoséPinheiro, PedroLima, JoséCosta, Paulo Gomes da2010-02-102010-02-102007Gonçalves, José; Pinheiro, Pedro; Lima, José; Costa, Paulo (2007). Tutorial introdutório para as competições de futebol robótico. IEEE Latin-American Learning Technologies Journal. ISSN 1932-8540. 2:2 p.63-72.1932-8540http://hdl.handle.net/10198/1827Soccer was the original motivation for Robocup. Besides being a very popular sport worldwide, soccer brings up a set of challenges for researchers while attracting people to the event, promoting robotics among students, researchers and general public. RoboCup chose to use soccer game as a central topic of research, aiming at innovations to be applied for socially significant problems and industries. This paper describes the implementation of a system similar to the used by the teams participating in the Robocup small size league (SLL). The system, developed in Object Pascal, allows real time localization and control of an omnidirectional mobile robot. The objective of this paper is to be an introductory tutorial for Robocup soccer games, focusing in the base topics real time localization and control.porArtificial visionMobile robotsReal time systemsjournal article