An integrated multi-agent decision making framework for robot soccer

Decision making is one of the most interesting issues to be solved in the RoboCup domain. This paper presents an integrated multi-agent decision making framework for robot soccer which addresses the problems of where to kick the ball to, and how to position in the field when the robot does not have the ball. The decision making framework is based on an MDP model of a soccer game, and it is integrated in the sense that the same criterions are used by the different robots for the selection of both the ball destination and the robot position. The proposed decision making framework is tested in simulated robot soccer matches, and decisions made in selected situations are shown.