This book is the sixth official archival publication devoted to RoboCup. It documents the achievements presented at the 6th Robot World Cup Soccer and Rescue Competition and Conference held in Fukuoka, Japan in June 2002.The 17 revised full papers and 21 poster papers were carefully reviewed and selected from 76 submissions. Also included in the book are an introductory survey and league reports summarizing the results of the various leagues running competition.The book is mandatory reading for the rapidly growing RoboCup community as well as a valuable source of reference and inspiration for R&D professionals interested in multi-agent systems, distributed artificial intelligence, and intelligent robotics.