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2023 | OriginalPaper | Chapter

Cyrus2D Base: Source Code Base for RoboCup 2D Soccer Simulation League

Authors : Nader Zare, Omid Amini, Aref Sayareh, Mahtab Sarvmaili, Arad Firouzkouhi, Saba Ramezani Rad, Stan Matwin, Amilcar Soares

Published in: RoboCup 2022: Robot World Cup XXV

Publisher: Springer International Publishing

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Abstract

Soccer Simulation 2D League is one of the major leagues of RoboCup competitions. In a Soccer Simulation 2D (SS2D) game, two teams of 11 players and one coach compete against each other. Several base codes have been released for the RoboCup soccer simulation 2D (RCSS2D) community that have promoted the application of multi-agent and AI algorithms in this field. In this paper, we introduce “Cyrus2D Base”, which is derived from the base code of the RCSS2D 2021 champion. We merged Gliders2D base V2.6 with the newest version of the Helios base. We applied several features of Cyrus2021 to improve the performance and capabilities of this base alongside a Data Extractor to facilitate the implementation of machine learning in the field. We have tested this base code in different teams and scenarios, and the obtained results demonstrate significant improvements in the defensive and offensive strategy of the team.

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previous chapter Omnidirectional Mobile Manipulator LeoBot for Industrial Environments, Developed for Research and Teaching

next chapter Distributed Optimization Tool for RoboCup 3D Soccer Simulation League Using Intel DevCloud

For simplicity, throughout this paper we will use the “base” term instead of base code.

https://github.com/Cyrus2D/Cyrus2DBase.

This Algorithm Is Implemented in Src/bhv_basic_block.cpp.

This Algorithm Is Implemented in Src/chain_action/action_chain_graph.cpp.

We reduced the array size to seven because our GA algorithm with several settings found that the eighth and following cells of the best arrays will be 0.

This Algorithm Is Implemented in Src/bhv_unmark.cpp.

This Algorithm Is Implemented in Src/bhv_unmark.cpp, Src/data_extractor/DEState.cpp and Src/data_extractor/offensive_data_extractor.cpp.

All Scripts for Training Are Available in Scripts/training_unmark.

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Title: Cyrus2D Base: Source Code Base for RoboCup 2D Soccer Simulation League
Authors: Nader Zare
Omid Amini
Aref Sayareh
Mahtab Sarvmaili
Arad Firouzkouhi
Saba Ramezani Rad
Stan Matwin
Amilcar Soares
Publisher: Springer International Publishing
Book: RoboCup 2022: Robot World Cup XXV
Print ISBN: 978-3-031-28468-7

Electronic ISBN: 978-3-031-28469-4

Copyright Year: 2023
DOI: https://doi.org/10.1007/978-3-031-28469-4_12

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