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cation and state estimation, to verify our simulated
results. For playing back balls accurately we have to
calibrate the system to get a good fitting model. A
very worthwhile further extension could be to include
the physics of playing back the ball into the optimisa-
tion, so the system does not try to achieve a position
and velocity as explained herein, it would optimise
the ball’s goal position, e. g. an opponent player’s po-
sition or any other desired position surrounding the
robot.
ACKNOWLEDGEMENTS
This work has been supported by the Graduate School
SyDe, funded by the German Excellence Initiative
within the University of Bremen’s institutional strat-
egy.
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