In: Soccer Robotics, pages 103-140. Volume 11 of Springer Tracts in Advanced Robotics --- Springer-Verlag, August 2004.
Abstract: In robot soccer, the game situation in the playground is typically read in terms of the robots' postures and the ball's position. Using real-time information of this dynamically changing game situation, the host computer program of a command-based robot soccer team would need to continually decide the role and action to take of each team robot, and to direct each robot to perform a selected action. The purpose, of course, is to get the team robots to exhibit some artificial form of cooperation, manifested by their coordinated movements, ball passing, running into proper postures and ball shooting in the goal-ward direction as often as the opportunity arises in the course of the match.