The RoboCup Soccer Server and associated client code is a growing body of software infrastructure that enables a wide variety of multiagent systems research. The Soccer Server is a multiagent environment that supports 22 independent agents interacting in a complex, real-time environment. AI researchers have been using the Soccer Server to pursue research in a wide variety of areas, such as including real-time multiagent planning, real-time communication methods, collaborative sensing, and multiagent learning. This article describes the current Soccer Server and the champion CMUnited soccer-playing agents, both of which are publically available and used by a growing research community. It also describes the ongoing development of FUSS, a new, flexible simulation environment for multiagent research in a variety of multiagent domains.

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Autonomous Agents and Multi-Agent Systems, 7(1--2):101-120, July--September 2003.

@article{MASinfrastructure-AAMAS, title={The RoboCup Soccer Server and CMUnited Clients: Implemented Infrastructure for MAS Research}, author={Itsuki Noda and Peter Stone}, volume={7}, journal={Autonomous Agents and Multi-Agent Systems}, number={1--2}, month={July--September}, pages={101-120}, url="http://nn.cs.utexas.edu/?MASinfrastructure-AAMAS", year={2003} }