Abstract
This paper contributes with a novel opponent formation classifier for simulated robot soccer. Modeling opponent positioning strategy can help the development of dynamic soccer behaviors and increase the team’s performance. We used tools from RoboCup 2D Soccer Simulation League (RoboCup 2D) for running soccer matches. Several researchers of RoboCup 2D developed classifiers for soccer formations but were limited to defense or preestablished formations. To acquire the formation categories of the opponents, we obtained positioning data from game logs against 11 opponents and detected mean formation patterns with the Gaussian Mixture Model clustering algorithm. Later, we trained a neural network and a random forest to predict four formation categories. The random forest outperformed the neural networks on average for unseen teams during training. However, the neural network achieved the lowest error rate for four unseen teams during training. Last, we introduced a method to decrease the number of game cycles required for correct classification by choosing the predicted label with the highest frequency over time.
Supported by CNPq.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Akiyama, H., Nakashima, T.: Helios base: an open source package for the robocup soccer 2D simulation. In: The 17th Annual RoboCup International Symposium, July 2013
Akiyama, H., Noda, I.: Multi-agent positioning mechanism in the dynamic environment. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI. RoboCup 2007. LNCS, vol. 5001, pp. 377–384. Springer, Berlin, Heidelberg (2008). https://doi.org/10.1007/978-3-540-68847-1_38
Almeida, R., Reis, L.P., Jorge, A.M.: Analysis and forecast of team formation in the simulated robotic soccer domain. In: Lopes, L.S., Lau, N., Mariano, P., Rocha, L.M. (eds.) Progress in Artificial Intelligence. EPIA 2009. LNCS, vol. 5816, pp. 239–250. Springer, Berlin, Heidelberg (2009). https://doi.org/10.1007/978-3-642-04686-5_20
Caliński, T., Harabasz, J.: A dendrite method for cluster analysis. Commun. Stat. 3(1), 1–27 (1974). https://doi.org/10.1080/03610927408827101, https://www.tandfonline.com/doi/abs/10.1080/03610927408827101
Faria, B., Reis, L., Lau, N., Castillo, G.: Machine learning algorithms applied to the classification of robotic soccer formations and opponent teams, pp. 344–349, July 2010. https://doi.org/10.1109/ICCIS.2010.5518540
Fukushima, T., Nakashima, T., Akiyama, H.: Online opponent formation identification based on position information. In: Akiyama, H., Obst, O., Sammut, C., Tonidandel, F. (eds.) RoboCup 2017: Robot World Cup XXI. RoboCup 2017. LNCS, vol. 11175, pp. 241–251. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00308-1_20
Pedregosa, F., et al.: Scikit-learn: machine learning in Python. J. Mach. Learn. Res. 12, 2825–2830 (2011)
Ramdas, A., Trillos, N.G., Cuturi, M.: On wasserstein two-sample testing and related families of nonparametric tests. Entropy 19, 47 (2017)
Shaw, L., Glickman, M.: Dynamic analysis of team strategy in professional football. Barça Sports Analytics Summit (2019)
The RoboCup Soccer Simulator Maintenance Committee: The robocup soccer simulator users manual. https://rcsoccersim.github.io/manual/. Accessed March 2023
Acknowledgments
D. M. Vasconcelos thanks CNPq for his undergraduate research scholarship. Marcos Maximo is partially funded by CNPq - National Research Council of Brazil through grant 307525/2022-8. The authors acknowledge the sponsors of ITAndroids: Altium, Cenic, Intel, ITAEx, Mathworks, Metinjo, Micropress, Neofield, Polimold, Rapid, SIATT, Solidworks, STMicroelectronics, WildLife, and Virtual Pyxis.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Vasconcelos, D.M., Maximo, M.R.O.A., Tasinaffo, P.M. (2024). An Opponent Formation Classifier for Simulated Robot Soccer. In: Buche, C., Rossi, A., Simões, M., Visser, U. (eds) RoboCup 2023: Robot World Cup XXVI. RoboCup 2023. Lecture Notes in Computer Science(), vol 14140. Springer, Cham. https://doi.org/10.1007/978-3-031-55015-7_15
Download citation
DOI: https://doi.org/10.1007/978-3-031-55015-7_15
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-55014-0
Online ISBN: 978-3-031-55015-7
eBook Packages: Computer ScienceComputer Science (R0)