Coordination in multi-agent RoboCup teams

In particular we address the challenge of im proving the team performance by exploiting the ability to coordinate the actions of the players The advantages of coordination in a soccer play ing scenario can not only be measured in terms of the number of goals scored in the opponents goal but also in the achievement of subgoals such as defending own goal gaining ball possession properly covering a position in the eld and so on These issues are dealt with in the Simulation and Mid size League of RoboCup The Simulation league is played by computer programs Each team is formed by players each of them implemented by a separated pro gram The simulation is run by a Soccer Server Each player has limited resources both in