In the robot soccer, a good strategy is essential to the success of a team. It is responsible to define the behavior of each robot on the many game situations and make the team play in a cooperative manner to win the game. To accomplish this, it is proposed in this paper a methodology to designing strategies for robot soccer based on discrete event systems formalism. The main idea is to allow the construction of a game strategy where the behavior of each robot can be dynamically modified, depending on the context of the match. This strategy is modeled based on the discrete events system (DES) theory. The DES formalism enables to implement the interaction between the various behaviors of a system in a simple way, allowing the addition of new behavior without changing the current behaviors already in use, which is the main advantage of the proposed approach.