ATT-CMUnited-2000: Third Place Finisher in the RoboCup-2000 Simulator League

The ATT-CMUnited-2000 simulator team nished in third place at Robocup2000. It was one of only three teams to nish ahead of the previous year's champion, CMUnited-99. In controlled experiments, ATT-CMUnited-2000 beats CMUnited-99 by an average score of 2.6{0.2. ATT-CMUnited-2000 is based upon CMUnited-99 [4], which in turn is based on CMUnited-98 [5]. In particular, it uses many of the techniques embodied in the previous teams, including: Flexible, adaptive formations (Locker-room agreement); Single-channel, low-bandwidth communication; Predictive, locally optimal skills (PLOS); and Strategic positioning using attraction and repulsion (SPAR). The ATT-CMUnited-2000 team explores several new research directions, which are outlined in the sections below.