Robotic soccer is a challenging research domain because problems in robotics, artificial intelligence, multi-agent systems and real-time reasoning have to be solved in order to create a successful team of robotic soccer players. In this paper, we describe the key components of the CS Freiburg team. We focus on the self-localization and object recognition method based on using laser range finders and the integration of all this information into a global world model. Using the explicit model of the environment built by these components, we have implemented path planning, simple ball handling skills and basic multi-agent cooperation. The resulting system is a very successful robotic soccer team, which has not lost any game yet.