. The success of CS Freiburg at RoboCup 2000 can be attributed to an effective cooperation between players based on sophisticated soccer skills and a robust and accurate self-localization method. In this paper, we present our multiagent coordination approach for both, action and perception, and our rich set of basic skills which allow to respond to a large range of situations in an appropriate way. Furthermore our action selection method based on an extension to behavior networks is described. Results including statistics from CS Freiburg final games at RoboCup 2000 are presented. 1 Introduction After winning RoboCup in 1998 and coming in third in 1999, CS Freiburg won the competition in the F2000 league at RoboCup 2000 again. One of the reasons for this success is most probably the accurate and reliable self-localization method based on laser range finders . However, while this was basically enough to win the competition in 1998, it was necessary to work on a number of di..