International Journal of Computer Games Technology / 2009 / Article / Fig 15

Research Article

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

Figure 15

Six real time frames to decide charging foul behavior (a-b) The attacker is approaching the goalkeeper from the side area (c) Two robots are about to collide (d) The attacker strikes the goalkeeper (e-f) The goalkeeper bounces backward and the ball goes into the goal area (Note that the arrow head in between robots is the ball position).
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