The Soccer Server system provides a rich and challenging multiagent, real-time domain. Agents must accurately perceive and act despite a quickly changing, largely hidden, noisy world. They must also act at several levels, ranging from individual skills to full-team collaborative and adversarial behaviors. This article presents the CMUnited-97 approaches to the above challenges which helped the team to the semifinals of the 29-team RoboCup-97 tournament.

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In Hiroaki Kitano, editors, RoboCup-97: Robot Soccer World Cup I, Lecture Notes in Artificial Intelligence, 1395, 387-397, Berlin, 1998. Springer Verlag.

@InCollection{LNAI97-simulator, title={The CMUnited-97 Simulator Team}, author={Peter Stone and Manuela Veloso}, booktitle={RoboCup-97: Robot Soccer World Cup I}, volume={1395}, editor={Hiroaki Kitano}, series={Lecture Notes in Artificial Intelligence}, address={Berlin}, publisher={Springer Verlag}, pages={387-397}, url="http://nn.cs.utexas.edu/?LNAI97-simulator", year={1998} }