During summer 2001, I wrote my Master Thesis titled "Collaborative Robotics with Lego Mindstorms". In this thesis, standard Lego Mindstorms sets are used to build a soccer environment. The tools created for this purpose can also be helpful for other projects and are available on my Lego Mindstorms page.

Master Thesis of Andreas Junghans (packed with gzip, 2269 KB)	20010813_master.pdf.gz
Master Thesis of Andreas Junghans (2631 KB)	20010813_master.pdf
Abstract (German and English, 3 KB)	20010813_abstract.txt

Lego Mindstorms Homepage	http://mindstorms.lego.com/
Lego Vision Command Homepage	http://mindstorms.lego.com/products/vc/index.asp
NQC Homepage	http://www.enteract.com/~dbaum/nqc/
Michael Gasperi's Vision Command Homepage	http://www.plazaearth.com/usr/gasperi/viscommand.htm