Strategy planner: Graphical definition of soccer set-plays

a Department of Informatics Engineering, Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal b Department of Informatics Engineering, Faculty of Sciences and Technology, Rua Sílvio Lima, Universidade de Coimbra— Pólo II, 3030-790 Coimbra, Portugal c Centre for Informatics and Systems, Universidade de Coimbra, DEI, Pólo II, Pinhal de Marrocos, 3030-290 Coimbra, Portugal d Artificial Intelligence and Computer Science Laboratory, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal e University of Aveiro, Campus Universitrio de Santiago, 3810-193 Aveiro, Portugal f Institute of Electronics and Telematics Engineering of Aveiro, Campus Universitário de Santiago, 3810-193 Aveiro, Portugal g Department of Informatics, Polytechnic Institute of Viseu, Campus Politécnico de Repeses, 3504-510 Viseu, Portugal h University Institute of Lisboa (ISCTE— IUL), Avenida das Foras Armadas, 1649-026 Lisboa, Portugal