Supervisors: Louis lettry and Alex Locher
In RoboCup it's crucial to have a precise information where the ball is on the field at every instant of time. Because of the limited capability of each robot detecting the ball on it's own with a reasonably high precision it's necessary for them to communicate. This sharing of information is done to receive a common global ball model. In a first step, the accuracy and loss rate of the communication framework of the NAO Robots was evaluated. In a second step the information of each robot was combined with respect to reliability, significance and correctness. Furthermore a detector was implemented to tackle the issue of the field symmetry problem, which resulted in robots having flipped coordination information.