coordination approach to find best defense decision with multiple possibilities among robocup soccer simulation team

in 2d soccer simulation league, agents will decide based on information and data in their model. effective decisions need to have world model information without any noise and missing data; however, there are few solutions to omit noise in world model data; so we should find efficient ways to reduce the effect of noise when making decisions. in this article we evaluate some simple solutions when making defense decisions and try to find a solution based on message-passing to coordinating agents in defense situations. our experimental results showed that in each situation one of the agents has a better view than others, so that agent can send messages to the others and provide needed information for doing defense behavior(ex: block behavior or clear ball behavior). finally, we implement our solution based on agent2d, version 3 and compare that with other solutions implemented in cyrus2014 and marlik2013 soccer 2d simulation teams.