This package contains the source code for the Keepaway benchmark 
player framework and the source code for some keepaway utility
programs.  The framework includes all low- and mid-level keepaway
behaviors.  A few example high-level policies are included.  Not
included is any learning code.  However, the framework was designed
to make it easy to insert your own learning code.  Also, not included
is the soccer simulator (see REQUIREMENTS).

The framework was created by

 Gregory Kuhlmann
 and Peter Stone

in the Department of Computer Sciences
at the University of Texas at Austin:
http://www.cs.utexas.edu/~AustinVilla/sim/keepaway/

Copyright 2004 Gregory Kuhlmann, Peter Stone
All Rights Reserved

The players are built upon version 3.3 of the UvA Basic team that is 
publicly available from:
http://staff.science.uva.nl/~jellekok/robocup/2003/index_en.html

The communication code is based on:
saymsglib - a library to generate and parse messages in the Coachable agent
communication standard created by Carnegie Mellon University.  It is 
described here:
http://www-2.cs.cmu.edu/~robosoccer/simulator/comm_standard.html

We provide this code as-is with no support implied.
It has been tested under Debian Linux 3.1 (testing)

REQUIREMENTS:

The RoboCup Soccer Server, available from:
http://sserver.sf.net

The following package versions are strongly recommended:
  rcssbase    9.4.5
  rcssserver  9.4.5
  rcssmonitor 9.3.7

Gnuplot (optional)


FILES and DIRECTORIES:

README        - This file
COPYING       - GNU Public License
keepaway.sh   - script to start players
player/       - keepaway player source code    
logs/         - dir to store generated log files (initially empty)
weights/      - dir to store learned weights (initially empty)
tools/        - some useful utilities for keepaway experiments


INSTALLATION:

In player/:
make depend
make

In tools/:
make
(copy all binaries to some directory in your PATH)


USAGE:

(Modify "keepaway_dir" in keepaway.sh to match installation dir)
./keepaway.sh

To view players:
monitor

To stop:
killserver