Tech United Eindhoven Middle-Size League Winner 2019.

After the sequence of winning the RoboCup Middle-Size League (MSL) in even years only (2012, 2014, 2016, 2018), Tech United Eindhoven achieved its first RoboCup win during an odd year at RoboCup 2019. This paper presents an evaluation of the tournament and describes the most notable scientific improvements made in preparation of the tournament. These developments consist of our solution to (unforeseen) localisation problems and the improvements in the control architecture of our eight-wheeled robot. The progress in the shooting lever is elaborated as well as the advancements in the arbitrary ball-detection in order to improve our scoring during the Technical Challenge. Additionally, research towards the application of artificial intelligence in predicting the actions of opponents and recognizing the appearance of the opponent robots will be presented.