Kouretes Robocup Team

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Kouretes Statechart Editor (KSE)


The development of high-level behavior for autonomous robots is a time-consuming task even for experts. Kouretes Statechart Editor (KSE) is a Computer-Aided Software Engineering (CASE) tool, which enables the developer to easily specify a desired robot behavior as a statechart model utilizing a variety of base robot functionalities (vision, localization, locomotion, motion skills, communication). A statechart is a compact platform-independent formal model used widely in software engineering for designing software systems. KSE adopts the Agent Systems Engineering Methodology (ASEME) model-driven development approach. ASEME is an Agent-Oriented Software Engineering (AOSE) methodology applied, through this work, to robotic teams behavior development. KSE guides the developer through a series of analysis and design steps within a graphical environment that leads to automatic source code generation. We use KSE for developing the behavior of the Nao humanoid robots of our team Kouretes competing in the Standard Platform League of the RoboCup competition.


Alexandros Paraschos (developer)
Angeliki Topalidou-Kyniazopoulou (developer-maintenance)
Nikolaos Spanoudakis (scientific advisor)


Topalidou-Kyniazopoulou A., Spanoudakis N.I., Lagoudakis, M.G.: A CASE Tool for Robot Behavior Development. In the 16th RoboCup International Symposium (RCS 2012), Mexico City, June 24, 2012.

Paraschos A., Spanoudakis N., Lagoudakis M.G.: Model-Driven Behavior Specification for Robotic Teams. In the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012), Valencia, Spain, June 4–8, 2012


KSE screenshot

KSE tutorial

Robotic Behavior developed with KSE:

Download KSE

Technical Contact
Angeliki Topalidou-Kyniazopoulou
Electronic and Computer Engineer
email: topalido at informatik dot uni-bonn dot de