CMUnited-99 was the 1999 RoboCup robotic soccer simulator league champion. In the RoboCup-2000 competition, CMUnited-99 was entered again and despite being publicly available for the entire year, it still finished in 4th place. This paper presents some of the key elements behind ATT-CMUnited-2000, one of the three teams that finished ahead of CMUnited-99 in RoboCup-2000 out of thirty four entrants. Playing against CMUnited-99, ATT-CMUnited-2000 scores an average of about 8 goals per opponent goal. This paper describes some of the key innovations that make this improvement possible.

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In Elisabeth Andre and Sandip Sen and Claude Frasson and Jörg P. Müller, editors, Proceedings of the Fifth International Conference on Autonomous Agents, 316-323, New York, NY, 2001. ACM Press.

@InProceedings{AA01-keepaway, title={An Architecture for Action Selection in Robotic Soccer}, author={Peter Stone and David McAllester}, booktitle={Proceedings of the Fifth International Conference on Autonomous Agents}, editor={Elisabeth Andre and Sandip Sen and Claude Frasson and Jörg P. Müller}, address={New York, NY}, publisher={ACM Press}, pages={316-323}, url="http://nn.cs.utexas.edu/?AA01-keepaway", year={2001} }