International Journal of Computer Games Technology / 2009 / Article / Fig 13

Research Article

Real Time Robot Soccer Game Event Detection Using Finite State Machines with Multiple Fuzzy Logic Probability Evaluators

Figure 13

Six real time frames to decide charging foul behavior. (a-b) The attacker is moving close toward the goalkeeper with the ball. (c) Two robots are about to collide with the ball in between them. (d-e) The attacker is pushing the goalkeeper backward with the ball in between them. (f) The goalkeeper is pushed into the goal area (Note that the arrow head in between robots is the ball position).

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