The CMUnited-99 simulator team became the 1999 RoboCup simulator league champion by winning all 8 of its games, outscoring opponents by a combined score of 110--0. CMUnited-99 builds upon the successful CMUnited-98 implementation, but also improves upon it in many ways. This paper gives a detailed presentation of CMUnited-99's improvements over CMUnited-98.

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In M. Veloso and E. Pagello and H. Kitano, editors, RoboCup-99: Robot Soccer World Cup III, Lecture Notes in Artificial Intelligence, 1856, 35-48, Berlin, 2000. Springer Verlag.

@InCollection{LNAI99-simulator, title={The CMUnited-99 Champion Simulator Team}, author={Peter Stone and Patrick Riley and Manuela Veloso}, booktitle={RoboCup-99: Robot Soccer World Cup III}, volume={1856}, editor={M. Veloso and E. Pagello and H. Kitano}, series={Lecture Notes in Artificial Intelligence}, address={Berlin}, publisher={Springer Verlag}, pages={35-48}, url="http://nn.cs.utexas.edu/?LNAI99-simulator", year={2000} }