PaSo-Team'99

PaSo-Team is a Multi-Agent system for playing soccer game in the Simulation League of the RoboCup competition. This paper describes the ideas and the technical structure of PaSo-Team’99, that played at RoboCup-99, in Stockholm during IJCAI’99. The main goal of the 1999 project was about the integration of a reactive model with some kind of high-level reasoning. Obstacle avoidance and motion reasoning are encapsulated at the behavior level. They use a proper world model (built from the sensed data), that focus on the relevant objects. The choice&evaluate problem is performed through an utility function over a proper coding of the prototypical game arrangements