The CMUnited-99 Champion Simulator Team

. The CMUnited-99 simulator team became the 1999 RoboCup simulator league champion by winning all 8 of its games, outscoring opponents by a combined score of 110--0. CMUnited-99 builds upon the successful CMUnited-98 implementation, but also improves upon it in many ways. This paper gives a detailed presentation of CMUnited-99's improvements over CMUnited-98. 1 Introduction The CMUnited robotic soccer project is an ongoing effort concerned with the creation of collaborative and adversarial intelligent agents operating in real-time, dynamic environments. CMUnited teams have been active and successful participants in the international RoboCup (robot soccer world cup) competitions [1, 2, 15]. In particular, the CMUnited-97 simulator team made it to the semi-finals of the first RoboCup competition in Nagoya, Japan [9], the CMUnited-98 simulator team won the second RoboCup competition in Paris, France [13], and the latest CMUnited-99 simulator team won the third RoboCup competition i...