AutoRef system architecture

The system architecture for the AutoRef autonomous referee for RoboCup Middle Size League (MSL) is a proposed conceptual model which describes the structure, behavior, and more views of the AutoRef systemREFERENCE LIST NEEDED.

AutoRef MSD 2020 primarily focused on specifying the functions of the AutoRef as derived from the MSL rulebook (v21.4). In short, this functional specification is a breakdown of MSL rule (or law) into robot skills through robot tasks: tasks are statements describing what the AutoRef must do to enforce the rules, written in plain language as to fully explain referee actions without describing the means by which to achieve them; skills are fundamental abilities which are needed to accomplish a specific task. The intent, approach, and realization of the functional specification is presented on this page, prefaced by a background of the system architecture and concluded with recommendations for future work.