Dear RoboCup 2023 Standard Platform League Technical Committee, Dear RoboCup SPL teams,

in accordance with the terms and conditions of the B-Human code release 2021's license, the SPQR Team announces the use of the B-Human code from the release 2021 for the RoboCup 2023.

We use some of the native B-Human modules including walking, simulation, whistle recognition, calibration, and the Skills and Card behavior design system. Instead, we use our own code for coordination, multi-robot distributed decision-making, and part of the robot's perception.

The following parts of the SPQR Team code are original: - Visual perception (Ball Perception https://github.com/SPQRTeam/SPQRBallPerceptor, Robot perception, Referee gesture recognition) - Team coordination and strategy, including planners https://github.com/EmanueleMusumeci/RoboCup-coach - Behaviors - Motion primitives (besides get-ups) and ball-approaching controller

The following parts are modifications of the original B-Human code: - Dynamic network adaptation - Data fusion among the robots

We would like to thank the B-Human Team for sharing their code and acknowledge their contribution to the RoboCup SPL.

Kind regards, Vincenzo Suriani - team leader SPQR Team