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At Freie Universität Berlin we have been building autonomous robots since 1998. Over the years, we built several generations of robots which took part in the annual RoboCup (robotic soccer) competitions. Our team, the FU-Fighters, won twice the World Championship in the small-size league (robots up to 18 cm in diameter), and once second place in the middle-size league (autonomous robots up to 50 cm in diameter). We dominated the European competitions over several years, winning five times the European championship.