The Effect of Using Match History on the Evolution of RoboCup Soccer Team Strategies

In this paper we improve the performance of an evolutionary method for obtaining team strategies in simulated robot soccer. In the previous method each team strategy was evaluated based on the goals and the goals against of a single game. It is possible for a good team strategy to be eliminated from the population in the evolutionary method as there is a high degree of uncertainty in the simulated soccer field. In order to tackle the problem of uncertainty, we propose a robust evaluation method using match history. The performance of team strategies in the proposed method is measured by the average goals and average goals against. Through a series of computer simulations, we show the effectiveness of our robust evaluation method