An architecture for action selection in robotic soccer

Abstract

CMUnited-99 was the 1999 RoboCup robotic soccer simulator league champion. In the RoboCup-2000 competition, CMUnited-99 was entered again and despite being publicly available for the entire year, it still finished in 4th place. This paper presents some of the key elements behind \attcmunited, one of the three teams that finished ahead of CMUnited-99 in RoboCup-2000 out of thirty four entrants. Playing against CMUnited-99, \attcmunited\ scores an average of about 8 goals per opponent goal. This paper describes some of the key innovations that make this improvement possible.