Sharif-Arvand Simulation Team
Like most teams SharifArvand consists of three parts: WorldModel, skills, and strategy. Duty of the WorldModel is getting received messages from the Soccer Sever (SServer[1 ]), creating a virtual model of the game field and updating the information about
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1 Introduction Like most teams SharifArvand consists of three parts: WorldModel, skills, and strategy. Duty of the WorldModel is getting received messages from the Soccer Sever (SServer[1]), creating a virtual model of the game eld and updating the information about each object. Other layers of the program will take the neces sary information for playing soccer from the WorldModel in a convenient format. Also any command sent to the server should be reported to the WorldModel. Other parts of the player program are implemented in a multilevel manner. In other words, in the lowest level there are simple skills which only use the WorldModel for undertaking their duties, whereas more complex skills in higher levels use the WorldModel and the lower level skills to achieve their goal. Finally, a strategy uses these skills for playing a soccer game. So, a strategy is the highest level skill. Therefore, a strategy should create, control and destroy skills to play a successful soccer game.
2 WorldModel The WorldModel is to know all the information about all the existing objects in the soccer eld. For representing the amount of error for each data in the WorldModel, each information unit has a probability density function to show its correctness.
2.1 Information Related to Other Objects
To nd information regarding other objects, WorldModel can use one or more of the methods explained below: { Finding this information directly from the received visual information. { Simulating the motion of the objects (players and the ball) in the case that server has not sent information about those objects, the information is not complete or it is not exactly correct. { Receiving a message by a player from a teammate. Because sending messages should be done via the WorldModel, and the WorldModel uses the extra empty part of the message to inform other players its own information, when the WorldModel receives a message, it can update some of its information according to that message. P. Stone, T. Balch, and G. Kraetzschmar (Eds.): RoboCup 2000, LNAI 2019, pp. 433-436, 2001. c Springer-Verlag Berlin Heidelberg 2001
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{ For the objects that their types are not known because of the long distance,
such as players that their uniform number or their team is unknown, the WorldModel uses Finding the Maximum Weighted Matching algorithm[3] to assign each data item to an object (of course it considers and computes the correctness probability in this case too). Weighted Matching acts on a weighted complete bipartite graph[3] like G with parts X and Y such that jX j jY j, and gives a perfect matching with maximum weight. A perfect matching is a matching (a set of noneneighborhood edges) that covers all vertices of part X . For our purpose, those objects that have been seen in previous (current) cycles creates vertices of Part X (resp. Y ), and weight of edges are calculated by considering distance between objects and speci ed parameters of objects. for example if P1 denotes a player with number 4 and unspeci ed team numbe
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