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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.
        },      
)