Collaborative Behavior in Soccer: The Setplay Free Software Framework

The Setplay Framework (available from SourceForge as free software) is composed of a C++ library (Project name: fcportugalsetplays), a fully functional RoboCup Simulation 2D demonstration team (fcportugalsetplaysagent2d), and a complete graphical tool (SPlanner), that can be used to design and plan the collaborative behavior between the soccer player agents. In order to demonstrate the usage of the Setplay library, a complete 2D simulation team, based on Agent2D, was developed. This example team uses the framework to execute previously planned collaborative behavior. This framework can be used both within simulated environments, such as the Robocup Soccer Simulation leagues, and with real soccer playing robots. This paper presents the free software Setplay Framework, and provides the necessary information for any team to use the framework with the goal of providing collaborative behavior to a team of soccer playing robots.