Using Monte Carlo Search With Data Aggregation to Improve Robot Soccer Policies

RoboCup soccer competitions are considered among the most challenging multi-robot adversarial environments, due to their high dynamism and the partial observability of the environment. In this paper we introduce a method based on a combination of Monte Carlo search and data aggregation (MCSDA) to adapt discrete-action soccer policies for a defender robot to the strategy of the opponent team. By exploiting a simple representation of the domain, a supervised learning algorithm is trained over an initial collection of data consisting of several simulations of human expert policies. Monte Carlo policy rollouts are then generated and aggregated to previous data to improve the learned policy over multiple epochs and games. The proposed approach has been extensively tested both on a soccer-dedicated simulator and on real robots. Using this method, our learning robot soccer team achieves an improvement in ball interceptions, as well as a reduction in the number of opponents' goals. Together with a better performance, an overall more efficient positioning of the whole team within the field is achieved

‘Multi-directional management’: Exploring the challenges of performance in the World Class Programme environment

Driven by the ever-increasing intensity of Olympic competition and the ‘no compromise – no stone unturned’ requirements frequently addressed by HM Government and its main agency, UK Sport, a change in culture across Olympic team landscapes is a common occurrence. With a focus on process, this paper presents reflections from eight current or recently serving UK Olympic sport Performance Directors on their experiences of creating and disseminating their vision for their sport, a vital initial activity of the change initiative. To facilitate a broad overview of this construct, reflections are structured around the vision’s characteristics and foundations, how it is delivered to key stakeholder groups, how it is influenced by these groups, the qualities required to ensure its longevity and its limitations. Emerging from these perceptions, the creation and maintenance of a shared team vision was portrayed as a highly dynamic task requiring the active management of a number of key internal and external stakeholders. Furthermore, the application of ‘dark’ traits and context-specific expertise were considered critical attributes for the activity’s success. Finally, recent calls for research to elucidate the wider culture optimisation process are reinforced