RoboCup 2004 Overview.- RoboCup 2004 Overview.- Award Winner Papers.- Map-Based Multiple Model Tracking of a Moving Object.- UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League.- Full Papers.- CommLang: Communication for Coachable Agents.- Turning Segways into Robust Human-Scale Dynamically Balanced Soccer Robots.- A Constructive Feature Detection Approach for Robotic Vision.- Illumination Insensitive Robot Self-Localization Using Panoramic Eigenspaces.- A New Omnidirectional Vision Sensor for Monte-Carlo Localization.- Fuzzy Self-Localization Using Natural Features in the Four-Legged League.- A Behavior Architecture for Autonomous Mobile Robots Based on Potential Fields.- An Egocentric Qualitative Spatial Knowledge Representation Based on Ordering Information for Physical Robot Navigation.- Sensor-Actuator-Comparison as a Basis for Collision Detection for a Quadruped Robot.- Learning to Drive and Simulate Autonomous Mobile Robots.- RoboCupJunior - Four Years Later.- Evolution of Computer Vision Subsystems in Robot Navigation and Image Classification Tasks.- Towards Illumination Invariance in the Legged League.- Using Layered Color Precision for a Self-Calibrating Vision System.- Getting the Most from Your Color Camera in a Color-Coded World.- Combining Exploration and Ad-Hoc Networking in RoboCup Rescue.- Robust Multi-robot Object Localization Using Fuzzy Logic.- Visual Robot Detection in RoboCup Using Neural Networks.- Extensions to Object Recognition in the Four-Legged League.- Predicting Opponent Actions by Observation.- A Model-Based Approach to Robot Joint Control.- Evolutionary Gait-Optimization Using a Fitness Function Based on Proprioception.- Optic Flow Based Skill Learning for a Humanoid to Trap, Approach to, and Pass a Ball.- Learning to Kick the Ball Using Back to Reality.- Cerebellar Augmented Joint Control for a Humanoid Robot.- Dynamically Stable Walking and Kicking Gait Planning for Humanoid Soccer Robots.- An Algorithm That Recognizes and Reproduces Distinct Types of Humanoid Motion Based on Periodically-Constrained Nonlinear PCA.- Three-Dimensional Smooth Trajectory Planning Using Realistic Simulation.- Plug and Play: Fast Automatic Geometry and Color Calibration for Cameras Tracking Robots.- Real-Time Adaptive Colour Segmentation for the RoboCup Middle Size League.- Visual Tracking and Localization of a Small Domestic Robot.- A Vision Based System for Goal-Directed Obstacle Avoidance.- Object Tracking Using Multiple Neuromorphic Vision Sensors.- Interpolation Methods for Global Vision Systems.- A Method of Pseudo Stereo Vision from Images of Cameras Shutter Timing Adjusted.- Automatic Distance Measurement and Material Characterization with Infrared Sensors.- Posters.- A Novel Search Strategy for Autonomous Search and Rescue Robots.- World Modeling in Disaster Environments with Constructive Self-Organizing Maps for Autonomous Search and Rescue Robots.- Approaching Urban Disaster Reality: The ResQ Firesimulator.- Stochastic Map Merging in Rescue Environments.- Orpheus - Universal Reconnaissance Teleoperated Robot.- Navigation Controllability of a Mobile Robot Population.- Sharing Belief in Teams of Heterogeneous Robots.- Formulation and Implementation of Relational Behaviours for Multi-robot Cooperative Systems.- Cooperative Planning and Plan Execution in Partially Observable Dynamic Domains.- Exploring Auction Mechanisms for Role Assignment in Teams of Autonomous Robots.- A Descriptive Language for Flexible and Robust Object Recognition.- Modular Learning System and Scheduling for Behavior Acquisition in Multi-agent Environment.- Realtime Object Recognition Using Decision Tree Learning.- Optimizing Precision of Self-Localization in the Simulated Robotics Soccer.- Path Optimisation Considering Dynamic Constraints.- Analysis by Synthesis, a Novel Method in Mobile Robot Self-Localization.- Robots from Nowhere.- Design and Implementation of Live Commentary System in Soccer Simulation Environment.- Towards a League-Independent Qualitative Soccer Theory for RoboCup.- Motion Detection and Tracking for an AIBO Robot Using Camera Motion Compensation and Kalman Filtering.- The Use of Gyroscope Feedback in the Control of the Walking Gaits for a Small Humanoid Robot.- The UT Austin Villa 2003 Champion Simulator Coach: A Machine Learning Approach.- ITAS and the Reverse RoboCup Challenge.- SPQR-RDK: A Modular Framework for Programming Mobile Robots.- Mobile Autonomous Robots Play Soccer - An Intercultural Comparison of Different Approaches Due to Different Prerequisites.- From Games to Applications: Component Reuse in Rescue Robots.