Strategy Learning of a Soccer Agent using Nave Bayes Classifier

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

Artificial Intelligence, Faculty of Computer Science Institute of Business Administration, Karachi

Abstract. This paper describes an implementation of Naive-Bayes classifier to predict the best move (locomotive

action) of a soccer agent within context of RoboCup Soccer Simulation 3D. The target class of soccer agent is Defender whose objective in the game is not to give any opportunity to the opponents to score a goal. The classical approach of building an agents logic is through if-then-else rules. This, however, is not a suitable mechanism as in a dynamic situation like soccer since it is not easy to explicitly define all the rules and situations. The paper, therefore, shows how machine learning technique can be used to train a soccer agent and then how effectively it can be used during a soccer game. It must be stated that in the 3D league the performance of any classifier is also constrained by the underlying locomotion skill of the agent. Thus, despite providing a good proof of concept, the results reported in this paper can be improved once the locomotion skills are improved further.

Key Words classifier, class variable, attributes, evidence, inference 1 Introduction

RoboCup[15] is an international competition for promoting research, development and education in artificial intelligence with the stated goal that: By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, complying with the official rule of the FIFA, against the winner of the most recent World Cup. RoboCup has four major competition domains, in which each domain has different number of leagues and sub leagues. These four domains are named as RoboCup Soccer, RoboCup Rescue, RoboCup@Home and RoboCup Junior. RoboCup Soccer comprises of different leagues such as Humanoid, Standard Platform, Small-Size, Middle-Size, Simulation 2D and Simulation 3D. The implementation and experiments discussed in paper are conducted in the realm of RoboCup Soccer 3D Simulation league. The ideas presented in this paper, however, are applicable to other leagues as well. This paper focuses on development of strategies of a soccer agent (Defender) whose role is to prevent the opponents from scoring a goal. The classical approach to devise an agents strategy is through if-then-else rules. There are, however, problems in this approach as there are several possible situation in a soccer game. These situations change with the agents position, balls position, opponents position, balls velocity, velocity of opponent towards ball etc. Therefore, to reduce the complexity of strategy design, Nave Bayes classifier is used which takes the input from the noisy environment of soccer field in vector form and predicts the best strategy for soccer agent at that particular time instant. It must be noted that in Soccer Simulation 3D, the execution of intelligent strategies depend primarily on the locomotion skill of soccer agent. The rest of the paper is organized as follows. Section 2 will summarize the work done by researchers similar to the problem stated in this paper. The domain description of RoboSoccer 3D Simulation and its challenges are provided in section 3. Section 4 provides the detailed technical description of Nave Bayes classifier with the proposed methodology and implementation. The discussion on results is provided in Section 5 and Section 6 will conclude the paper.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

Related Work

Researchers have used different machine learning techniques to propose the solutions of complex problems especially in the area of RoboCup Soccer. Its summary is given as follow: Bustamante C. et al. [1] make use of Nave Bayes classifier to learn successful ball passing mechanism. They assess which player is most likely to receive a pass without ball being intercepted. The ball is ultimately passed to the one with the highest probability of success. Marsella S. et al. [2] summarizes the lessons learned from the comparison of RoboSoccer teams. They provide a good overview of how the divide-and-conquer learning approach is used for designing different skills. In addition, how the knowledge acquired from domain experts can be used for learning shots on goal from different angles. Furthermore, reinforcement learning is used to train the agents for successful pass-interception. Stone P. and Veloso M. [3] have discussed several robotics Multi Agent Systems including RoboCup Soccer. They have highlighted how agents can learn and enhance their capabilities, such as keeping possession of ball, through repeated trials. Coradeschi S. and Karlsson L. [4] have addressed the issues faced in a multi-agent environment especially how to respond in an uncertain environment. They make full use of domain experts knowledge for the behavior specification and focuses on the role of agents as a group. They specify decision tress for each role to model coordinated behavior. The approach by Murray J. et al. [5] uses state charts to model complex actions and strategies effectively. Stolzenburg F. et al. [6] have focused on the declarativity of approach, by developing a script language which makes the strategies well understandable and concise for RoboCup Soccer agents. They suggest that the script language can be smoothly translated into logic programs. Floyd et al.[8] implemented the learning system of agents by mimicking the expert (learning by demonstration). The authors compared the performance of their learning system using four techniques: case-based reasoning, decision trees, support vector machines and Nave-Bayes classifiers. In learning by demonstration, cases are generated by observing the expert in a game. These cases are reproduced when the agent faces similar game states during the match. The possible actions predicted by the above methods are kicking, dashing and turning. The study of emergency in strategy games using classical machine learning algorithms is performed by Machado A.F.V. et al.[9]. They tested their results using C4.5 decision tree learner, Nave Bayes and M5P decision tree learner. Faria B.M et al. [10] compared different machine learning algorithms to classify the robotic soccer formation. Opponent identification was the other phase of their research. Training data was gathered from the simulated robots of 2D Simulation League. Algorithms used for comparison were Artificial Neural Network, Kernel Nave Bayes, K-Nearest Neighbor and Support Vector machine.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

Ball D. et al. [11] implemented behavior modeling and prediction system (BPS). The experiments were performed on real robots. The goal of BPS is to predict the behavior of opponent in the following steps: classifying the current behavior, modeling the classified behavior into sub-behaviors and then predicting the future behavior. The authors used Nave Bayes algorithm to predict the current behavior of opponent in real time (Step 1 of experiment). In the domain like RoboCup Soccer 3D, the data obtained from the sensors of agent is continuous. In order to apply implement the learning system, it might be useful to discretise the continuous data. Bustamante C. et al. [12] implemented Fuzzy and Gaussian Nave Bayes classifier for the pass evaluation skill of soccer agent. The authors compared the performance of implemented classifiers in the decision making process of ball passing between the soccer agents. Similar to the works reported above, this paper also aims to develop the strategy of a soccer agent. It uses Nave Bayes classifier to predict the next move an agent should take. Unlike [1] which uses Nave Bayes for ball passing, this paper learns the complete strategy which includes moving in a particular direction in anticipation to block the ball, going backward if the ball has gone beyond the agent, kicking the ball if it is within the range, and so on and so forth. As is the case with many other approaches, the strategy/behavior of a RoboCup Soccer agent is dependent upon its underlying locomotion capabilities. The implementation done for this experiment has discrete set of skills such as moving forward, backward, sideways (both left and right), turning and kicking. The work done in [2,5,6,8,10] used 2D Simulation League as their test bed while the work performed in [1,12] was validated in the environment of 3D Simulation league . This paper presents the implementation of machine learning algorithm in 3D Simulation league. The following section will discuss the environment and challenges of 3D Simulation League.

Domain Description

This section will give a brief introduction to the description of RoboCup Soccer Simulation 3D, its environment and challenges. 3.1 RoboCup Soccer Description

This paper uses 3D Soccer Simulation environment as its test bed. Robot model of 3D Simulation league is the simulated version of robot model used in Standard Platform League.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

In Standard Platform,Fig.1, all the teams compete with identical robot called NAO (developed by Aldebaran Robotics[13]). These physical robots interact with other similar robots in real world environment. Typically, this league emphasizes upon low level control of the robots.

Figure 1. Standard Platform League

Home Side

Figure 2. 2D Simulation League +Y

Opponent Side

Figure 3. 3D Simulation League

Ball (Bx,By)
d

+X

Agent (Ax,Ay) Figure 4. Soccer fields axis diagram Robocup 2D Simulation league, Fig. 2, lays stress on the high level challenges of Robot Soccer like agent collaboration and co-ordination. 3D Simulation league, Fig. 3, amalgamates the low-level control with high-level behaviors to develop a team of simulated biped robots. 3.2 Simulation 3Ds Environment and its Challenges

The Simulation 3D environment is based on Simspark[7], which is a multi-agent simulator system for the agents in 3D-environment. Soccer Agents are connected to server[16], while the simulated environment is rendered on monitor[17]. The ground size in this league is 21 meters by 14 meters. The center point of the field is considered as origin (0,0). The home goal line is at -10.5 on X-axis, and the opponents goal line is at 10.5 on X-Axis. On Y-Axis, the maximum value of the above defined goal-lines is +7 while the minimum value is -7. The pictorial representation of fields geometry with Axes direction is demonstrated in Fig 4. Agent receives the noisy information about environment (relative positions of observed flags, goal-posts, opponents and messages etc) through vision and auditory sensors. They are also fitted with noisy gyroscope, accelerometers and force-resistance perceptors(in each foot) . The complete robot model is given in [18]. In order to design intelligent strategies, it is necessary to use the information from environment to localize the agent in the soccer field. After localization, the agent should be able to reach the target positions on the field smoothly, which requires stable locomotion skills. After these tasks, agent would be able to play soccer in collaboration with other agents intelligently. The strategies of agents are typically designed by using classical if-else conditions. This paper proposes a way to learn the strategy for several game situations using Nave Bayes classifier.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

The design and implementation of Nave Bayes classifier, to predict the best move at particular instant, is discussed in the following section.

Strategy Learning Using Nave Bayes

This section provides the technical details about the design of Nave Bayes classifier within the context of Soccer Simulation 3D League. The process of classifier design needs the identification of important features constituting strategies. Once the features are identified, preparation of data set is required to train the classifier. After the preparation of data set, a classifier is trained which is then incorporated inside the agents decision mechanism. The agent sends input (in the form of vector) to the classifier and receives the best action according to the current game situation. The defenders primary role is to defend the goal and to clear the ball away from the home goal. It starts making use of NaveBayes classifier once the ball is in the danger zone(The area after X=-3, see fig 3.). Before a Nave Bayes classifier can be used for strategy prediction, it needs to be trained. Thus, the following steps are required for the successful implementation of the process. Features identification(Section 4.1) Discretizing the Features(Section 4.2) Training data generation(Section 4.3) Model learning(Section 4.4) Usage of Nave Bayes as Strategy Controller in real practice matches i.e. Prediction (Section 4.5)

4.1

Features Identification

Initially, six features (Agents and Balls Co-ordinates, Agents distance with ball and the orientation of Agent in soccer field) were identified that could be used as the basic elements for designing strategy. From the human intuition, two new features were added to increase the parameters for making decision. These features were: the angle of agent with ball and the distance of ball with goal post. After the identification of features, we discretized these features for the sake of simplicity.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

4.2

Discretizing the Features

The information from the sensors of agent is continuous in nature. The agent uses this information to create a world model. Therefore, to make the computation simpler, all continuous attributes were further discretized and retained as nominal variables. The description of discretized states is given below: 4.2.1 Distance with ball Distance with ball(d) is Euclidean distance between Agent(Ax,Ay) and the Ball(Bx,By) as shown in Fig 4.If the distance of agent and ball (d) is less than 3 units, then this attribute is recorded as Small. If the distance (d) is greater than or equal to 3 units, then this attribute is recorded as NotSmall. 4.2.2 Balls X-Location If the balls X-Location (Bx) is between 0 and -3, then its state is recorded as Start. If Bx is between -3 and -7, its state is recorded as Middle. If Bx has the value less than -7, then its state becomes Close. 4.2.3 Balls Y-Location If the balls Y-Location (By) is greater than 0, then its state is recorded as Positive otherwise Negative. 4.2.4 Agents X-Location If the agents X-Location (Ax) is between 0 and -3, then its state is recorded as Start. If Ax is between -3 and -7, its state is recorded as Middle. If Ax has the value less than -7, then its state becomes Close. 4.2.5 Agents Y-Location If the agents Y-Location (Ay) is greater than 0, then its state is recorded as Positive otherwise Negative. 4.2.6 Distance of ball with goal post If the ball is within the region of semi-circle, drawn in Fig. 4, having center (-10.5,0) and radius 5 Units, then the state of this attribute is recorded as Small otherwise NotSmall.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

4.2.7 Orientation The states of orientation are recorded as Front, Left, Back and Right. Its mathematical boundaries are described in Table 1. 4.2.8 Angle with ball The states of this attribute are recorded as Narrow, Left, Back Left, Right and Back Right. Its mathematical boundaries are described in Table 1. The complete list of the retained feature is given in Table 1. The second column list the features name while the third and fourth columns list states of the corresponding variables and their underlying ranges, respectively. The defenders close to goal receive all the necessary data from environment on the basis of which they have to decide the best possible action when the ball enters their region. Once the features(attributes) are identified, they will be joined together to form a complete feature vector. The combination of feature vector will form the training data set which will be used to train the classifier.

Figure 5. Graphical Representation of Feature Vector

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

Table 1. Discretising Attributes into states #

1 2 3 4 5 6

Attribute's Name
Distance with ball Ball's XLocation(BallX) Ball's YLocation(BallY) Agent's X-Location (MyX) Agent's Y-Location (MyY) Distance of Ball with Goalpost(BDWithG) Orientation(orient)

States
Small NotSmall Start Middle Close Positive Negative Start Middle Close Positive Negative Small NoSmall Front Left Back Right Narrow Left Back Left Right Back Right

Mathematical Boundary
<3 units >=3 units -3<X<0 -7<X<-3 X<-7 Y>0 Y<0 -3<X<0 -7<X<-3 X<-7 Y>0 Y<0
Circle(radius=5) at (-10.5,0)

Angle with Ball(AngleWBall)

Out of above circle 330<ort<30 30< ort <170 170< ort <210 210< ort <330 Absolute(angle)<15 15<angle<60 angle>60 -60<angle<-15 ang<-60

4.3

Training Data generation

The training of classifier requires data set. The data set is the collection of feature vectors. The feature vector , depicted in fig. 5, is in the form: Feature vector = (Attribute#1 , Attribute#2, .. Attribute#8,Target Class) The target class (of classifier) which we want to learn is the locomotion action that is, moving forward, backward and sideways left and sideways right. The collection of feature vector generates the training data set. The data set for training was generated by creating different game situations (placement of balls, defender, opponent agents, etc.) randomly, thus producing a distinct feature vector, and getting the opinion of a human expert about the ideal move. The human judgment was treated as the best action for our soccer agent. The process was repeated for 200 hundred feature vectors (game situations).

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

+Y
Opponent Side Home Side

+X
O1 H1

Figure 6. Random game situation

Consider the game situation, Fig 6, generated randomly for preparing a feature vector. The agent of opponent team (O1) is modeled by red circle, while the agent of home team (H1) is modeled by blue circle. The ball is denoted by white circle. The arrows on circle are showing the orientation of agents in soccer field. In the case described above, H1 needs to defend the goal of home side. At this particular instant, H1 needs to decide the best move in order to defend its team. For preparing a feature vector for the given game condition, all of the attributes are recorded by taking into account the respective game situation (Fig.6). The best move in the given scenario is predicted by the human expert, which will be recorded in Target Class of the feature-vector. Similarly, 200 random game situations were generated to prepare the data-set manually. This data-set (collection of feature vectors) was used to train the classifier. 4.4 Model learning

Once the data-set was generated with the help of human expert, it was used to train the Nave Bayes classifier. The conditional probabilities for classifier were learnt through GeNIe1. These conditional probabilities were used to design the classifier for agent in soccer field. 4.5 Prediction

Once the Nave Bayes classifier is learned, as described above, it is used in an actual game situation to test the applicability and accuracy of the proposed technique.

GeNIe can be downloaded from http://genie.sis.pitt.edu/downloads.html

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Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

Using GeNIe1, a table of conditional probabilities of predicted actions against the game situation is obtained. In order to design the Nave Bayes Classifier, these probabilities are incorporated into the real time executing environment. During a game, the classifier continuously receives input from the agents perception and suggests it the next intelligent move. The danger zone is identified after X=-3 till X=-10.5 on soccer field. When the ball enters this region, the defender gives the required evidences to the model(in the form of vector), and receives the intelligent decision based on the highest probable action at that instant.

Figure 7. Defender using Nave Bayes classifier. Roboviz[14] is used as a monitor

Figure 8. Illustrated example from Genie showing the predicted action probabilities

Fig. 7 is the snapshot of an instant when the defender (colored Blue) is trying to defend the attack made by the agent (colored Red). At this particular instant, agent sends the input vector to the classifier. The classifier predicts the best move and the defender executes the move predicted by classifier The list of inputs for the scenario pictured in Fig. 7 is shown in Fig. 8. This list includes agents position, balls position and orientation, angle with ball, etc whose details are given in Table 1. The values of these attributes/inputs are entered as evidence/fact to the classifier and the posterior probabilities of the all actions are computed. For the current implementation of classifier, four actions are taken into consideration, that is, forward walk (fw), back walk (bw), side walk left (swl) and side walk right (swr). The simplified process of strategy prediction is presented in Fig 10. Based on the results from classifier, shown in Fig. 8, there is only a 15% chance that walking in forward direction is the best strategy, 22% chance for backwalk, 6% chance for side walk in right direction and 58% chance for side walk in left direction.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

In Fig. 9, the resulting probabilities from classifier (Y-Axis) are plotted against their respective locomotion skill (X-Axis). The bar indicating the highest probability is selected as the best move. Thus, side walk in left direction would be suggested as the best strategy(for the defender in blue color) under the given circumstances (the game situation described in Fig 7.).

Locomotion Skill VS Classifier's Output

Ouput Probabilities

0.8 0.6 0.4 0.2

Forward Walk(FW)

BackWalk(BW)

SideWalkLeft(SWL)

SideWalkRight(SWR)

Locomotion Skill

Figure 9. Plot of resulting probabilities from classifier (Y-Axis) against their respective locomotion skill(XAxis)

Figure 10. Flow diagram for Strategy Prediction

Results

The proposed methodology has been tested in real games and its performance against different teams is recorded. Although a real RoboCup Soccer Simulation 3D match has 9 players from each team, we have only considered two defenders and one goalie of the home team and the two attackers of opponent team. For the sake of simplicity, the number of attackers and defenders are kept constant to test the proposed approach. During the attack, home team was supposed to defend with two defenders. For a proof of concept, we trained two defenders and analyze their performance against the attack of opponents. The results obtained were encouraging

12

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

which validated the idea to train more defenders for different modes of strategies against different number of attackers. Both defenders of the home team used the proposed technique for strategy identification during the match. The opponent teams are selected from the binaries released after IranOpen 2011. The standard server[16] and monitor[14,17](used officially in RoboCup matches) are used for the matches. The results of the experiments are presented in Table 2 and Table 3. Table 2 contains the results when the agent was trained with 100 records while Table 3 shows the results when the agent was trained with 200 records. In Table 2 and Table 3, the 2nd column, labeled Opponents path blocked, lists the number of times defender blocked the path of attacker and as a result attacker was prevented to score a goal. Table 2. Evaluation of defender in different matches with training data containing 100 records(Records were prepared manually)
Time(t) Opponents path blocked Total attack by opponent Goal scored by opponent Ball cleared by defender

Table 3. Evaluation of defender in different matches with training data containing 200 records(Records were prepared manually)
Opponents path blocked Total attack by opponent Goal scored by opponent Ball cleared by defender

Time(t)

VS Naoth(2 Defenders vs 2 Attacker) 1 Half 2nd Half 1st Half 2nd Half 1st Half 2nd Half 1st Half 2nd Half
st st

VS Naoth(2 Defenders vs 2 Attacker) 1 2 1 Half 2 Half

st nd st

1 1

4 4

2 1

2 2

8 3

1 0

5 1

VS Nexus3D(2 Defenders vs 2 Attacker) 2 1 6 5 2 3 2 1 1 Half 2 Half

st nd

VS Nexus3D(2 Defenders vs 2 Attacker) 3 3 7 10 0 1 4 6

VS Strive3D(2 Defenders vs 2 Attacker) 1 1 6 7 3 3 2 3 1 Half 2 Half

st nd

VS Strive3D(2 Defenders vs 2 Attacker) 2 2 7 5 2 1 3 2

VS Apollo3D(2 Defenders vs 2 Attacker) 0 0 6 5 4 5 2 0 1 Half 2nd Half

st

VS Apollo3D(2 Defenders vs 2 Attacker) 3 3 7 9 2 4 2 2

VS CIT3D(2 Defenders vs 2 Attacker) 1 Half 2 Half

nd

VS CIT3D(2 Defenders vs 2 Attacker) 1 1 1 Half 2 Half

nd

1 1

8 8

6 6

2 1

9 6

6 5

1 0

The 5th column, labeled ball cleared by defender, lists the instances when the ball is kicked by opponent towards our goal and the ball reaches the danger zone (area between -3 to -10.5 on x-axis). At this moment, if our defender runs towards the ball and clear it away from the danger zone then a count is added to this column. In this way an attacker is prevented to gain the possession of ball in our goal-area(D-area).

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

It is evident from Table 3 that the overall performance of the proposed approach is quite decent when considering the fact that the opponent teams are among the best teams in the world and our agents locomotion skill was considerably weaker than them. Thus, even if the strategy correctly says that move in the right direction, the movement itself was not fast enough to stop the attack. Nevertheless, except against CIT3D, the performance is quite satisfactory and encourages further development along this research direction in addition to enhancement in the locomotion skill set. Table 4 summarizes the performance of defenders in five matches against the teams listed in Table 2 and Table 3. It is evident from the table that the defenders of the home team performed better when they were trained with 200 training records as compared to 100 training records. It proves the fact that this approach can be used in conjunction with classical if-else method for predicting strategies in different situations and locations on the field.

Table 4. Comparing agents performance by increasing training records Goal Opponents Training Attack by Scored path Records Opponent by blocked Opponent 100 200 9 23 59 71 35 22 Ball Cleared by Defender 15 26

Conclusion

This paper presented a machine learning based approach to learn the strategy of a Soccer agent in context of Robocup Soccer Simulation 3D. The proposed method provides a better alternative to traditional if-then-else rules based techniques which fail to capture all the situations that may arise during a soccer game. This designed system for strategy prediction can be merged with classical If-Else mechanism, which will start functioning on the failure of later approach (If-Else). Even though the paper focused on the strategy of a defender, the suggested technique is easily applicable to other roles too, such as goalie, attacker, etc.

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Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

In order to design the Nave Bayes classifier for strategy prediction, it needs to pass through certain processes. It was shown how to discretize relevant features with mathematical boundaries, generating the feature vector, combining the feature vectors to produce training data-set and finally training the classifier. The suggested procedure in this paper trains the soccer agent according to the advices given by human expert. Since this approach uses the opinion of human expert in different game situations, therefore the process of generating data-set was worked out manually. The manual preparation of dataset was very time consuming (because for each feature vector, a random situation is generated and the advice from an expert is incorporated into the data-set ) due to which we tested this approach first with 100 records and then with 200 records. The results shown in Table 4 proved that the approach has a lot of promise. The limitations observed were mainly due to the weakness of the locomotion skill set and unavailability of exhaustive data set. If data set consisting of hundreds of records (based on many real match situations) is available along with human expert opinion then the accuracy of the approach can be improved further. Both tasks are part of the future research directions of this work.

References
[1] Carlos Bustamante, Leonardo Garrido, and Rogelio Soto. Fuzzy naive bayesian classification in robosoccer 3d: A hybrid approach to decision making. In Gerhard Lakemeyer, Elizabeth Sklar, Domenico Sorenti, and Tomoichi Takahashi, editors, RoboCup-2006: Robot Soccer World Cup X, Berlin, 2006. Springer Verlag. [2] Stacy Marsella, Jafar Adibi, Yaser Al-Onaizan, Gal A. Kaminka, Ion Muslea, Marcello Tallis, and Milind Tambe. On being a teammate: Experiences acquired in the design of robocup teams. In Proceedings of the Third International Conference on Autonomous Agents (Agents-99), Seattle, WA, 1999. ACM Press. [3] Peter Stone and Manuela Veloso. Multiagent systems: A survey from a machine learning perspective. Autonomous Robots, 8(3):345383, July 2000. [4] Silvia Coradeschi and Lars Karlsson. A role-based decision-mechanism for teams of reactive and coordinating agents. In Hiroaki Kitano, editor, RoboCup-97: Robot Soccer World Cup I, pages 112122. Springer Verlag, Berlin, 1998. [5] Jan Murray, Oliver Obst, , and Frieder Stolzenburg. Towards a logical approach for soccer agents engineering. In Peter Stone, Tucker Balch, and Gerhard Kraetszchmar, editors, RoboCup-2000: Robot Soccer World Cup IV, pages 199208. Springer Verlag, Berlin, 2001.

Shaukat R.Abidi*, Saleha Raza*, Sajjad Haider*

[6] Frieder Stolzenburg, Oliver Obst, Jan Murray, and Bjorn Bremer. Spatial agents Implemented in a logical expressible language. In Veloso, Pagello, and Kitano, editors, (LNAI 1856). Springer-Verlag, 2000. [7] About Simpspark. Retrieved 28 Apr 2012, from http://simspark.sourceforge.net/wiki/index.php/About_SimSpark [8] Michael W. Floyd and Babak Estefandiari. Comparison of classifiers for use in a learning by demonstration system for a situated agent. In Workshop on Case-Based Reasoning for Computer Games in ICCBR 2009, 2009. [9] Machado, A. F. V., Clua, E. W. and Zadrozny B. (2010) A Method for Generating Emergent Behaviours using Machine Learning to Strategy Games. In: SBGames. [10] Brigida Monica Faria, Luis Paulo Reis, Nuno Lau and Gladys Castillo. Machine Learning algorithms applied to the classification of robotic soccer formations and opponent teams (2010), IEEE Conference on Cybernetics and Intelligent Systems, CIS 2010, pp. 344-349. [11] [Ball and Wyeth, 2003] Ball, D. and Wyeth, G. (2003). Classifying an Opponents Behaviour in Robot Soccer. In Proceedings of the 2003 Australasian Conference on Robotics and Automation (ACRA). [12] Carlos Bustamante, Leonardo Garrido, and Rogelio Soto. Comparing fuzzy naive bayes and gaussian naive RoboCup-99: Robot Soccer World Cup III

bayes for decision making in robocup 3d. In Alexander F. Gelbukh and Carlos A. Reyes Garca, editors, MICAI 2006: Advances in Artificial Intelligence, volume 4293 of Lecture Notes in Computer Science, pages 237247. Springer, 2006. [13] Aldebaran Robotics. Retrieved 28 April 2012, from http://www.aldebaran- robotics.com/

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[14] RoboViz. Retrieved 28 April 2012, from http://sites.google.com/site/umroboviz/ [15] About RoboCup. Retrieved 30th May 2012, from http://www.robocup.org/about- robocup/ [16] Server. Retrieved 30th May 2012, from http://simspark.sourceforge.net/wiki/index.php/Server [17] Monitor. Retrieved 30th May 2012, from http://simspark.sourceforge.net/wiki/index.php/Monitor [18] Model. Retrieved 30th May 2012, from http://simspark.sourceforge.net/wiki/index.php/Models