UvA Trilearn 2002 - Soccer Simulation Team
'UvA Trilearn 2002' is an extension over UvA Trilearn 2001, which participated
for the first time in RoboCup 2001 and reached fourth place at this competition.
Much of the effort in building UvA Trilearn 2001 had gone into getting the
lower levels to work, since we felt that these would be the most crucial for
the success of the team. UvA Trilearn 2002 contains several improvements
which include improved localization methods using particle filters, behavior
modeling of teammates, and the action selection method based on a
Research Group Members
drs. J.R. Kok (firstname.lastname@example.org) -
Research and Implementation
dr. N. Vlassis
Prof. dr. ir. F.C.A. Groen (email@example.com) - Team Coordinator
University of Amsterdam (UvA), Faculty of Science
Intelligent Autonomous Systems Group
Kruislaan 403, 1098 SJ Amsterdam, The Netherlands
- Towards an optimal scoring policy for simulated soccer agents (Proceedings
Robocup 2002 symposium): Kok02robocupA.ps.gz.
- Team Description Paper (Proceedings Robocup 2002 symposium): Kok02robocupB.ps.gz.
- Mutual Modeling of Teammate Behavior (technical
The binary of UvA Trilearn 2002 as used during the final round in Fukuoka is
available here. To ease testing, you
can also download this binary
which works with the synchronization mode of the server. Just start the server with the synch_mode option set to "on" and it should work.
The rest of the binary is the same as the binary used in Fukuoka. Unfortunately,
I only have a dynamic linked binary available, but it should work on most
standard linux systems.
Part of the source code of UvA Trilearn 2002 is available
here. Note that this is
the basic team against which you have to play in order to qualify for RoboCup 2003!
The released source code
contains our lower levels (synchronization, world model, basic agent skills)
together with a simple high-level strategy, similar to the one released by
FC Portugal after RoboCup-2000 to make a working team. It is basically the
same source code as released last year. The main
differences are some small improvements, bug-fixes and some adaptions
to the newest soccer server (8.x).
- An extended version of above source code is now available which also
implements the new penalty shootout. The default policy of the agents (penalty
kicker and goalkeeper) is very simple, but it can give you an idea how to
implement and work with the new penalty shootouts. See the NEWS file in the
rcssserver directory of the server for more details about the penalty shootout
procedure. The extended source code can be downloaded here. A logfile displaying a penalty
shootout can be downloaded here.
Furthermore, we also released our
coach framework. This framework depends
heavily on the source code of the clients mentioned above. The coach does not
contain any functionality, but only processes the incoming information and
stores it in its world model. It is also possible to install a callback handler
that will process the commands typed in by the user.
To use this framework, extract the contents to the same directory as the source
code of the clients (the file Makefile and README will be overwritten with an
updated version). See the end of the README file for more
This code is released
under the modified
This basically means that
the software may be used, modified and copied as long as the copyright notice,
the list of conditions and the disclaimer are reproduced in the documentation
and/or other materials provided with the distribution.
The associated html documentation can be generated from these sources or
be directly downloaded here.
We think that the extensive documentation in combination with our thesis
is an excellent starting point for new teams. Our thesis, which can be
downloaded from the publications section, describes all components of
our team in much detail.
- German Open
We participated in the
German Open 2002 and became
Champion (of 13 teams) in this competition.
The logfile from the final can be viewed here.
This Flash file is created using the program
robocup2flash (version 0.1) written by Thilo Girmann, which can be
downloaded from the
|Round ||Opponent ||Score |
|Group ||AT Humboldt (Germany) ||9-0 |
|  ||Persepolis (Iran) ||3-0 |
|  ||UT United (Iran) ||4-1 |
|  ||BUGS (Germany) ||31-0 |
|  ||Mainz Rolling Brains (Germany) ||24-0 |
|  ||Polytech (Russia) ||7-0 |
|Elimination (winners) ||Matrix (Iran) ||23-0 |
|  ||RoboLog (Germany) ||5-0 |
|  ||Brainstormers (Germany) ||2-0 |
|Final ||Brainstormers (Germany) ||2-0 |
|  ||  ||110-1 |
All results can be found at
- Robocup 2002 Fukuoka
We participated in
RoboCup 2002 in Fukuoka and became
4th (of the 42 qualified teams) in this competition.
All results can be found
|Round ||Opponent ||Score |
|Round 1 ||United-2002 (USA) ||9-0 |
|  ||Avan (Iran) ||27-0 |
|  ||Gemini (Japan) ||18-0 |
|  ||Cow 'n' Action (USA) ||24-0 |
|Round 2 ||YowAI2002 (Japan) ||6-0 |
|  ||Puppets (Japan) ||2-0 |
|  ||Harmony (Japan) ||21-0 |
|  ||RaiC02 (Japan) ||29-0 |
|  ||FC Portugal 2002 (Portugal) ||0-1 |
|Elimination (winners) ||Everest (China) ||2-3 |
|Elimination (losers) ||TIT Helios (Japan) ||4-0 |
|  ||FC Portugal 2002 (Portugal) ||1-0 |
|  ||Brainstormers (Germany) ||1-2 |
|  ||  ||144-6 |