Local passing-ball tactics based on a Keepaway algorithm

This paper proposes a passing method based on reinforcement learning to realize multi.agent cooperation strategy under the platform of Keepaway. In this paper, a Keepaway model is built in Robocup3D simulation game using the Sarsa(λ) algorithm based on a linear function approximation. We set the time to keep the ball as the reward, and keep training to get the action, making the team hold the ball as long as possible. In this training model, the strategy of soccer robots is implemented in team collaboration mechanism, include PASS and GETOPEN strategy. The experimental results demonstrate the effectiveness of our methods.