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@Incollection(LNAI-11v11,
        Author="David Mc{A}llester and Peter Stone",
        Title="Keeping the Ball from {CMU}nited-99",
        booktitle= "{R}obo{C}up-2000: Robot Soccer World Cup {IV}",
        series="Lecture Notes in Artificial Intelligence",      
        volume="2019",
	pages="333--338",
        Editor="Peter Stone and Tucker Balch and Gerhard Kraetzschmar",
        Publisher="Springer Verlag",address="Berlin",year="2001",
        abstract={This paper presents preliminary results achieved during our development of a team for simulated robotic soccer in the RoboCup soccer server. In preperation for the 2000 simulation competition we constructed a team that plays a simplified ``keepaway'' game. Playing keepaway against the 1999 RoboCup champion CMUnited-99 team, our keepaway program holds the ball for an average of 25 seconds with an average distance of 24 meters from the opponents end of the field. CMUnited-99 playing against itself holds the ball for an average of only 6 seconds. Here we describe the design of the keepaway team and the results achieved on the keepaway task. The principal technique used is the vector sum of force-fields for governing player motion when they are not in possession of the ball. The control methods developed for the keepaway task were eventually incorporated into a team that outscores CMUnited-99 at a rate of eight goals for every opponent goal. This team took third place in the robocup 2000 simulator competition.},      
)