The United-2002 simulator team is based upon the CMUnited-99 simulator team and aspects of the ATT-CMUnited-2000 simulator team and the ATTUnited-2001 simulator team. The low level code of United-2002 is based almost entirely on CMUnited-99. However, it has been updated to handle the features of version 8 of the Soccer Server.
You can download this updated source code. It has been used as the basis for a class on Autonomous Multiagent Systems in the Department of Computer Sciences at The University of Texas at Austin as described in the following paper:
which is available with latest reference information from my publications page.
You may also run United-2002 as it ran in Fukuoka.