| Year | Team | Title | Authors | Download |
| 2024 | RoboFEI | Multi-robot Path Planning with Safety Based Control Applied to the Small Size League Robots | Leonardo da Silva Costa, Flavio Tonidandel | Link |
| 2024 | RobôCIn | Analysis of the Introduction Trajectory Planning in Control Applied in Small size League Robots | Riei Rodrigues, Lucas Cavalcanti, João Melo, Edna Barros | Not released yet |
| 2023 | RobôCIn | RobôCIn SSL-Unification: A Modular Software Architecture for Dynamic Multi-robot Systems | Victor Araújo, Riei Rodrigues, José Cruz, Lucas Cavalcanti, Matheus Andrade, Matheus Santos, João Melo, Pedro Oliveira, Ryan Morais, Edna Barros | Link |
| 2023 | RobôCIn | Improving Inertial Odometry through Particle Swarm Optimization in the RoboCup Small Size League | Lucas Cavalcanti, João G. Melo, Riei Joaquim, Edna Barros | Link |
| 2023 | RoboFEI | Linear Quadratic Regulator Path Tracking for Omnidirectional Robots in High-Dynamic Environments | João Victor Lourenço Aguiar, Leonardo Da Silva Costa, Flavio Tonidandel | Link |
| 2023 | RoboFEI | Optimizing a chip kick module of a Small Size League robot | Henrique B. Simões, Guilherme Kashihara, Leonardo Da S. Costa; Flavio Tonidandel | Link |
| 2022 | RobôCIn | An Embedded Monocular Vision Approach for Ground-Aware Objects Detection and Position Estimation | J.G. Melo, E. Barros | |
| 2022 | RobôCIn | rSoccer: A Framework for Studying Reinforcement Learning in Small and Very Small Size Robot Soccer | Felipe B. Martins, Mateus G. Machado, Hansenclever F. Bassani, Pedro H. M. Braga, Edna S. Barros | Link |
| 2021 | RoboFEI | DVG+A* and RRT Path-Planners: A Comparison in a Highly Dynamic Environment | Leonardo da Silva Costa, Flavio Tonidandel | Link |
| 2021 | RoboDragons | Obstacle Avoidance of Omnidirectional Mobile Robots in Consideration of Motion Performance | Y. Ando, M. Ito | |
| 2020 | RoboFEI | Comparison and Analysis of the DVG+A and Rapidly-Exploring Random Trees Path-Planners for the RoboCup-Small Size League | Leonardo da Silva Costa, Flavio Tonidandel | Link |
| 2020 | RoboDragons | Visual Feedback Interception of A Moving Ball by An Omni-Wheeled Mobile Robot with An On-Board Camera | M. Nakayama, M. Ito | |
| 2019 | RoboDragons | Online Strategy Clustering Based on Action Sequences in RoboCupSoccer Small Size League | Y. Adachi, M. Ito, T. Naruse | |
| 2019 | RoboDragons | Trajectory Tracking Controller Based on Linear Model Predictive Control for Omni-Wheeled Mobile Robots with Velocity Command Limits | R. Suzuki, M. Ito | |
| 2019 | NEUIslanders | A Model-Free Algorithm of Moving Ball Interception by Holonomic Robot Using Geometric Approach | Pavel Makarov, Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2018 | NEUIslanders | A Model-Free Algorithm of Moving Ball Interception by Holonomic Robot Using Geometric Approach | Nurullah Akkaya, Rahib Abiyev | |
| 2018 | UMass MinuteBots | Control of Omnidirectional Robot Using Z-Number-Based Fuzzy System | David Balaban, Alexander Fischer, Joydeep Biswas | |
| 2018 | UMass MinuteBots | Interactive Robot Transition Repair With SMT | Jarrett Holtz, Arjun Guha, Joydeep Biswas | |
| 2017 | NEUIslanders | Fuzzy control of omnidirectional robot | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2017 | TIGERs Mannheim | Real-Time Online Adaptive Feedforward Velocity Control for Unmanned Ground Vehicles | Nicolai Ommer, Alexander Stumpf, Oskar von Stryk | |
| 2016 | CMDragons | Virtually Adapted Reality and Algorithm Visualization for Autonomous Robots | Danny Zhu, Manuela Veloso | |
| 2016 | NEUIslanders | Robot soccer control using behaviour trees and fuzzy logic | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2016 | RoboDragons | Classifying the Strategies of an Opponent TeamBased on a Sequence of Actions in the RoboCupSSL | Yusuke Adachi, Masahide Ito, Tadashi Naruse | |
| 2016 | TIGERs Mannheim | Development of an Autonomous Referee Software for the Small Size League | Lukas Magel | |
| 2015 | TIGERs Mannheim | Position Control of an Omnidirectional Mobile Robot | Nicolai Ommer, Jannik Abbenseth | |
| 2014 | CMDragons | AutoRef: Towards Real-Robot Soccer Complete Automated Refereeing | Danny Zhu, Joydeep Biswas, Manuela Veloso | |
| 2014 | NEUIslanders | Improved Path-Finding Algorithm for Robot Soccer | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2014 | NEUIslanders | Behaviour tree based control for efficient navigation of holonomic robots | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2014 | RoboDragons | A Method to Estimate Ball’s State of Spin by Image Processing for Improving Strategies in the RoboCup Small-Size-Robot League | Yuji Nunome, Kazuhito Murakami, Masahide Ito, Kunikazu Kobayashi, Tadashi Naruse | |
| 2014 | STOx’s | Learning Soccer Drills for the Small Size League of RoboCup | Carlos Quintero, Saith Rodríguez, Katherín Pérez, Jorge López, Eyberth Rojas, Juan Calderón | |
| 2014 | STOx’s | Fast Path Planning Algorithm for the RoboCup Small Size League | Saith Rodríguez, Eyberth Rojas, Katherín Pérez, Jorge López, Carlos Quintero, Juan Calderón | |
| 2013 | NEUIslanders | Control of soccer robots using behaviour trees | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2013 | NEUIslanders | Behavior Tree Based Control of Holonomic Robots | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2013 | NEUIslanders | Behaviour Trees Based Decision Making for Soccer Robots | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2013 | RoboDragons | Analyzing and Learning an Opponent’s Strategies in the RoboCup Small Size League | Kotaro Yasui, Kunikazu Kobayashi, Kazuhito Murakami, Tadashi Naruse | |
| 2012 | NEUIslanders | Navigation of Mobile Robot in Dynamic Environments | Ersin Aytac, Nurullah Akkaya, Rahib Abiyev | |
| 2011 | Parsian | grSim – RoboCup Small Size Robot Soccer Simulator | Valiallah Monajjemi, Ali Koochakzadeh, Saeed Shiry Ghidary | |
| 2011 | RoboDragons | Robust Algorithm for Safety Region Computation and Its Application to Defense Strategy for RoboCup SSL | Taro Inagaki, Akeru Ishikawa, Kazuhito Murakami, Tadashi Naruse | |
| 2011 | ZJUNlict | Design of a FPGA-Based Multiple Motors Control System | Yue Ma, Rong Xiong, Fan Zhang |
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