The RoboCup Soccer Server and CMUnited Clients: Implemented Infrastructure for MAS Research (2003)
Itsuki Noda and Peter Stone
The RoboCup Soccer Server and associated client code is a growing body of software infrastructure that enables a wide variety of multiagent systems research. The Soccer Server is a multiagent environment that supports 22 independent agents interacting in a complex, real-time environment. AI researchers have been using the Soccer Server to pursue research in a wide variety of areas, such as including real-time multiagent planning, real-time communication methods, collaborative sensing, and multiagent learning. This article describes the current Soccer Server and the champion CMUnited soccer-playing agents, both of which are publically available and used by a growing research community. It also describes the ongoing development of FUSS, a new, flexible simulation environment for multiagent research in a variety of multiagent domains.
Autonomous Agents and Multi-Agent Systems, Vol. 7, 1--2 (2003), pp. 101-120.

Peter Stone Faculty pstone [at] cs utexas edu