Team formation design using Delaunay triangulation in Robocup2D simulation competition

In the Robocup2D soccer competition, the agent´s arrangement is a key point to win the game. A suitable position for each agent should be determined according to the current status of the soccer field. In this paper, we proposed a method to realize our team formation. We transform the problem into a map from a focal point like a ball position in a soccer field to a ideal coordinates of each player agent, and split the soccer field into a set of triangles using Delaunay triangulation to approximate the map. Experimental results certify the validity of this method.