UAISOCCER2D - TEAM DESCRIPTION PAPER CBR 2011

ANDR LUIZ C. OTTONI

1
, ERIVELTON G. NEPOMUCENO
1
, FERNANDA F. DE OLIVEIRA
1
.
1. UaiSoccer2D, UaiSoccer of Soccer of Robot Team, Group of Control and Modeling, UFSJ Federal
University of So Joo Del-Rei, MG, Brazil.
E-mails: andreottoni@ymail.com, nepomuceno@ufsj.edu.br,
fernandafelipe.oliveira@gmail.com
Abstract This article presents the UaiSoccer2D team, a simulation team of robots soccer simulated at UFSJ -
Federal University of So Joo del-Rei, Brazil. The paper is composed by a methodology, in which Software
Engineering strategy for multiagent systems is presented. Moreover, the article still describes the some abilities of
the UvA Trilearn 2003 Base, adopted in the stage of implementation for the UaiSoccer2D.

Keywords UaiSoccer2D, multiagent systems, UvA Trilearn 2003 Base.
1 Introduction
The GCOM Research Group of Control and
Modeling at Federal University of So Joo del-Rei
(UFSJ), Minas Gerais, Brazil, is a research group
formed by engineerings, mathematicians, computer
scientists, and psychologist. The UaiSoccer2D team
was created in a multidisciplinary environment.
The UaiSoccer
1
Robot Soccer Team was
established at the beginning of the year of 2009 for
undergraduate students of GCOM, who wanted to
unify the knowledge acquired in the undergraduate
to a development of useful technologies for society,
coordinated by Prof. Erivelton Geraldo
Nepomuceno. UaiSoccer integrates research areas
such as Control, Multiagent Systems, Hardware
Engineering, Software Engineering, Artificial
Intelligence, Dynamic Systems, Mechanical Project
and Material Engineering. The team also counts on
the orientation and support of five professors of
Electrical Engineering Department.
In 2010, the UaiSoccer Team took part into the
Robotic Competitions of the Small Size League,
reaching a 4
th
place in the LARC Latino American
Competition of Robotics (Ottoni & Barbosa, 2010).
In 2011 the team will participate for the first time in
the Simulation 2D League, an so on, it is called as
UaiSoccer2D. The UaiSoccer2D is based on UvA
Trilearn 2003 (De Boer & Kok, 2002) and in
software engineering for multiagent systems.
approach (Pressman, 2004; Gonalves, 2006;
Medeiros, 2004).
2 The UvA Trilearn 2003 Base Team

1. UaiSoccer is a composed noun by two words: Uai:
interj. (chiefly Minas Gerais) well! (used in the
begining or in the end of a phrase to express surprise)
and Soccer wich is a common word in English.




It was chosen to use the code based on UvA Trilearn
2003 (De Boer & Kok, 2002) as it presents some
basic abilities, as interception of ball, kick, dribbles
and movement. Moreover, it offers implemented the
connection with the RoboCup Soccer Server created
through one socket, that it makes possible to send
and to receive messages.
The UaiSoccer2D possesses implemented
different actions for each agent of the team. As it
was explained in section 3 of this article, all the
process of creation of the strategies of the
UaiSoccer2D follows the stages of the methodology
of software engineering for multiagent systems. In
the stage of implementation of the methodology it is
very important to identify the functions that will be
useful to place in practical the considered model.
After that is described some of the abilities of the
UvA Trilearn 2003 Base that they are used by the
UaiSoccer2D.
2.1 DirectPass
This ability directly allows that to an agent pass the
ball for another player. It can be of two forms:
NORMAL or FAST. This method receives as
parameter the player's position partner to occur the
pass (De Boer & Kok, 2002).
2.2 ClearBall
This ability allows that to an agent kick the ball for
one determined area of the field. There are three
alternatives of this method (De Boer & Kok, 2002):
CLEAR_BALL_DEFENSIVE,
CLEAR_BALL_OFFENSIVE or
CLEAR_BALL_GOAL.
2.3 Mark
This ability allows that the agent marks an
adversary. There are the three possible forms for this
method: It can be defined as MARK_BALL,
MARK_GOAL, MARK_BISECTOR (De Boer
& Kok, 2002).
2.4 Dribble
This ability allows that an agent advances with the
ball, keeping it inside of certain distance. It can be
defined as DRIBBLE_FAST, DRIBBLE_SLOW
or DRIBBLE_WITH_BALL (De Boer & Kok,
2002).
3 Software Enginnering For Multiagent
Systems
Planning and implementation of a system of high
complexity is a high complicated task. A good
example is the soccer of simulation robots 2D, that it
involves eleven intelligent agents in each team. Each
one of these agents possesses functions and different
actions of the team. Therefore, the UaiSoccer needs
to have as first scientific focus research development
of software for agents and the adoption of a
methodology software engineering for development
of the strategies of the team 2D.
For the UaiSoccer2D team a methodology was
adopted that uses concepts of agents, and also a
structure already known in the universe of the
guided analysis objects well. Then, the adopted
methodology possesses beddings of the Tropos
methodologies (Bresciani, 2004; Gonalves, 2006;
Silva, 2003) and UML (Larman, 2007; Medeiros,
2004).
Tropos is a methodology of software
engineering, in level of knowledge, for the
programming guided the agents (Bresciani, 2004),
based on two key features: a cognitive notion of
agent and its characteristics are used in all the phases
of the development. An important rule is the phase
of analysis of requirements that precedes the
specification (Gonalves, 2006).
The UML is a language of modeling unified
sufficiently used for the development of guided
software objects. The UML defines a number of
diagrams that allow to direct the focus for different
aspects of the system in independent way. This
facilitates to the communication of all the involved
people in the process of development of a system -
controlling, coordinating, analysts, developers - for
presenting a vocabulary of easy agreement (Larman,
2007; Medeiros, 2004).
The stages of the methodology adopted for the
development of the plays of the UaiSoccer2D are:
survey of requirements, detailed project,
implementation and tests (Bresciani, 2004;
Gonalves, 2006; Pressman, 2004).
3.1 Survey of Requirements
The survey of requirements (Bresciani, 2004;
Pressman, 2004). is subdivided into: I) initial
requirements; ii) final requirements.
Initial requirements (Gonalves, 2006): In this
stage it is looked to understand the problem by
means of a organizational scene. The exit of this
period of training is an organization model that
includes the principal actors and its respective
dependences. These actors are characterized by
possessing goals, that of isolated form, are capable
to reach. These goals are reached had to the
knowledge of the system and its dependences.
Final requirements (Gonalves, 2006): The
description of the system to be built inside of its
operational environment is made in this stage,
together with the necessary functions and abilities.
This description shapes the system for a set of
actors, which presents certain number of social
dependences with other actors of the environment.
Therefore, at a first moment of the survey of
requirements, all are defined the possible actions for
each agent in the team. As for example, if the agent
goes or not to kick the goal.
3.2 Detailed Project
The detailed project (Gonalves, 2006) made use of
resultant specifications from survey of requirements.
In the modeling of the detailed project, diagrams of
the UML are used to represent capacities and plans,
and to specify the interactions between the agents.
To develop the diagrams software Open Source
StarUML was adopted. The StarUML makes
possible to create diagrams UML, and after that to
extract them for an image format, as jpg, gif or
bitmap.
3.3 Implementation
In this phase occurs the implementation (Gonalves,
2006; Pressman, 2004) of the project in the
programming platform. The programming language
C++ is used. During this stage it is important to
know functions specific of the team. If, for example,
in the previous phases they had been defined that
one determined agent must pass the ball at an
accurate moment, must be known that the DirectPass
(De Boer & Kok, 2002), described in 2.1, is an
option for this goal.
In case that no function already implemented
before satisfies the necessity of the shaped strategy,
the objective is then to create new abilities for the
team. As agent was the case of the developed ability
to verify the safe edge it to load the ball. This
algorithm verifies in accordance with for the agent
who is with the ball if he is safe to remain itself with
the ball, in the distance that it is of the adversaries.
3.4 Tests
The tests (Pressman, 2004) are necessary to all
verify the consistency of the project. If found errors
it must be come back in the previous stages of the
methodology toward correct them.
4 Results
For the accomplishment of the tests they had been
selected randomly between teams of world-wide the
2010 and LARC 2008, a sample of 10 teams of
simulation 2D, based in the UvA Trilearn 2003
[1,4]. Between these teams if they find the teams
Brazilian Bahia_2010 (UNEB/2010), PetSoccer
(UFES/2008), Gear (USP/2008), Gargalos
(UFES/2008), Blitz Krieg (UFES/2008); and the
international teams AUA (China/2010), Hfutengine
(China/2010), Rione (Japan/2010), UvA Trilearn
Base 2003 (Netherlands/2003), Robotoos
(Iran/2008).
These teams had been tested in 6 games against
two developed strategies of the UaiSoccer2D with
the methodology of software engineering for
multiagent systems described in section 3 of this
article. They had totalized 60 games for strategy,
120 games in the total. The total balance of goals of
each teams was used as a data base for the
application of the test.


Figure 1. Graph representing balance of goals, goals scored and
goals suffered by the two strategies developed.


Figure 4. Graph representing balance of goals for the two
strategies, according to the opponent.
5 Conclusion
The UaiSoccer2D team has demonstrated good
results in the tests against some teams, which took
part into world-wide Robocup 2010. Research in
software engineering of multiagent systems leads to
the planned development of the game strategies.
Moreover, the adopted methodology allows
recognizing the errors of implementation and to
come back in the previous stages toward correct
them. UaiSoocer2D teams pretends to increase the
research in software engineering for multiagent
systems, incorporating logic fuzzy and neural
networks.
Acknowledgments
The authors acknowledge financial support from
FAPEMIG, CAPES, CNPq and UFSJ.
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