Related Work

Lots of research is being done in Robocup soccer domain. Research in this domain is diversed in many different areas of computer science. One branch of research is computer vision. In our project we have made use of Carnegie Mellon's vision component, CMVision. Information gathered via camera is still a noisy information, however it is the one that is used mostly and provides a huge portion of the gathered information. Color segmentation is used to recognize color coded objects. Therefore, everything in the robocup world is color coded.
Another dimension of research is coordinated team behavior. It includes coordinating a multi-robot team towards a common goal [6], [7], [8]. This component both has to plan ahead to achieve the ultimate common goal and at the same time make use of short term advantages. Therefore, it has to make acurate decisions and keep the system responsive to environmental changes.
One other direction of research includes making use of statistical measures to learn opponent strategies and adapt the gameplay to make most out of available information. Probabilistic opponent modeling techniques are utilized in predicting location, movement and behavior of opponent team.