This book constitutes the eight official archival publication devoted to RoboCup. It documents the achivements presented at the RoboCup 2004 Symposium, held in Lisbon, Portugal in June/July 2004 in conjunction with the RoboCup Competition. The 36 revised full papers and 26 revised short papers presented together with 2 award winning papers and an introductory overview went through two rounds of reviewing and post-symposium improvements and were selected from 118 paper submissions. The book is a valuable source of reference and inspiration for R & D professionals active or interested in robotics, distributed artificial intelligence, and it is mandatory reading for the rapidly growing RoboCup community.

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