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Keeping the Ball from CMUnited-99.
David McAllester and Peter Stone.
In Peter Stone,
Tucker Balch, and Gerhard
Kraetzschmar, editors, RoboCup-2000: Robot Soccer World Cup IV, Lecture Notes in Artificial Intelligence, pp. 333–338,
Springer Verlag, Berlin, 2001.
[PDF]107.1kB [postscript]66.1kB
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.
@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.
},
)
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