[segway] ideas

- situation and role-based skill selection

• situation -- setplays, play mode (known from referee)
  
• role -- kicker, receiver, interceptor (know from situation, self pos and ball pos)
  
• self position -- my half, their half, near their goal (known from localization)
  
• ball position
• teammate position
  

- Skill (behavior) -based tracking
in each cycle, high-level decides which skill to use based on world info. Then the skill to use decides the ball movement model .
e.g.

• searching -- static ball model, search high-weight cell first
• grab - static ball model, ready to use IR sensor, then ball's position is known to be below segway, so same velocity as the segway
• recv ball -- ball will be kicked towards the segway, so using constant speed model
• kick bal l(passing, shooting)-- segway will kick the ball, so ready to give a ball an acceleration
• aiming -- moving ball
• interception -- that is grab a moving ball, moving ball model -> stop ball

- info source

• vision
• IR sensor
• self motion
  
• teammate comm

- implementation and experiment

• PF(particle filter)
• RBPF (pf + kalman filter)
• KF
• experiment comparing the three