Technical Issues

In addition to issues in the challenge (1), several other issues remain:

• Situation A: Prediction of the ball speed and direction is a key issue to receive the ball. To receive the passed ball while moving, the relationship between the moving ball and the self motion should be made clear [Stone and Veloso1997].
• Situation B: In addition to the above issue, goal protection is important. To estimate the goal position, the agent may have to watch the goal area lines and the penalty area line. Again, the omni directional lens is much better to see the coming ball and the goal position simultaneously. In the goal area line, the agent can receive and keep the ball while outside this line it may have to kick the ball (not receiving but just protecting the goal). Discrimination of these lines might cause the vision to be much more complicated.
• Situation C: It seems similar to Situation A, but the main difference is to get the ball from the pass between opponents. This requires more accurate prediction of motions of not only the ball but also opponents (both passer and receiver). Also, an additional load in perception module.