Client Behavior

The behavior of the client for these tests was very simple. In essence, the client would chase after the ball, and upon reaching it would kick it at its goal. A low-level description of what the client would do at each time step is given below.

1. Query the memory for the position of the ball. If its not known then look for it.
2. If the ball is close enough to be kicked then:
   1. Query the memory for the location of the goal. If its not known then look for it.
   2. Kick the ball toward the goal.
3. If the ball is not close enough to be kicked then dash toward it.

  
Figure: The soccer field used by the simulator. The boxes mark out where the players and ball were placed for the free ball experiment.