The CS Freiburg team has become F2000 champion the third time in the history of RoboCup. The success of our team can probably
be attributed to its robust sensor interpretation and its team play. In this paper, we will focus on new developments in our
vision system, in our path planner, and in the cooperation component.
This work has been partially supported by Deutsche Forschungsgemeinschaft (DFG), by Medien- und Filmgesellschaft Baden-Württemberg mbH (MFG), by SICK AG and Sony Corporation