Open Source Software and Hardware

Software framework

The software framework is a software written in Java that runs on any PC. It contains the central AI and is responsible for receiving camera data, filtering the data and communicating with the robots by calculating decision in the AI.


The electronics package includes schemas and layout of all electronics.
They are designed with Autodesk EAGLE.


CAD files and PDF drawings of all parts.
2011 files use CATIA.
2013 and 2014 files use Autodesk Inventor 2013.
2016, 2017, and 2018 files use Autodesk Inventor 2016.
2019 and 2020 files use Autodesk Inventor 2019.


The code running on the microcontrollers of our robot. Projects are using Eclipse as IDE and the GNU GCC compiler.
Each archive contains a PDF file with setup instructions.

TIGERs grSim Simulator

Adapted version of the grSim simulator to work with our software. It includes automated install scripts for Linux, Visual Studio support for Windows and better ball simulation.

Autonomous Referee

Autonomous referee software for detecting rule violations (2014) and managing a full game (2016)

SSL Augmented Reality App

An Augmented Reality App that visualizes AI decisions in a live video or video file send through network in a protobuf packet.

Documentation and other files

All release files can be browsed through the buttons below.

(Seminar) Papers

This section lists papers written by Tigers team members during their studies or with a strong relation to the RoboCup domain.

Published Title Author
Dec 23, 2010 Cooperative shoot and pass behaviour of mobile robots in the context of the TIGERS-Mannheim SSL Robocup-project Berthold, G., Waigand, D. Abstract Paper

The student project Tigers Mannheim aims at enabling a team of autonomous robots, controlled by a central artificial intelligence, to play soccer. For this intent, a coordinated shooting and passing is essential and has therefor been designed and implemented. Here, the real-time environment and the adaption to the proceeding game has to be taken into account. To achieve a successful implementation, the shooting skill has been divided into different phases. At first, a suitable target has to be evaluated by the analysis and the robot has to be moved to the ball. Then the robot has to aim by circling around the ball and the shooting mechanism has to be triggered. The pass functionality is an enhancement of the shooting skill, but additional points have to be considered, since two co-dependant protagonists have to be coordinated. Regarding these requirements, complex algorithms have been developed and tested successfully in both, the simulated and real environment. The procedure may be extended by dynamic approaches and adjustments to future versions of the used robot might be necessary.