We illustrate our new team Artisti Veneti a new entry in the Middle-size league from The University of Padua (Italy). The team is composed of heterogeneous robots that use only vision as perception system. The vision systems have been designed separately for each robot. Our players are coordinated in the frame of ADE (Artisti Veneti’s Development Environment), a multi-thread distributed real-time Environment working under Linux OS. Cooperative abilities, like exchanging a ball, can be achieved through the use of efficient collision avoidance algorithms using roles swapping triggered using an enhanced reactivity approach.