CS Freiburg: Sophisticated skills and effective cooperation

The success of CS Freiburg at RoboCup 2000 can be attributed to a robust and accurate perception approach and an effective cooperation between players based on sophisticated soccer skills. In this paper, we present our multi-agent coordination approach for both, action and perception, and our rich set of basic skills which allow to respond to a large range of situations in an appropriate way. Furthermore, our action selection method based on an extension to behavior networks is described. Results including statistics from CS Freiburg final games at RoboCup 2000 are presented.