Case-Based Reasoning for Planning and World Modeling in the RoboCup Small Size League

This paper presents three case-based reasoning (CBR) prototypes developed for the RoboCats, a team of five soccer playing robots in the RoboCup small size league. CBR is used to help the Robo- Cats plan individual moves and team strategies, as well as to model the world of the playing field. More specifically, the case-based reasoners posi- tion the goalie, select team formations, and rec- ognize game states for the RoboCats. This paper also discusses issues and opportunities for CBR in RoboCup and other endeavors in which physical agents must operate in dynamic, real-time environ- ments.