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

Table 9

The results of repeated experiments using patches in Figure 12 (N: the number of experiments; S: success; F: Fail; H: the number of incidences of “Hitting” type collision; P: the number of incidences of “Pushing” type collision; AP: the average probability values given by the system for each type of collision).

	N	S	F	Success rate (%)	H	AP (%)	P	AP (%)
Front	50	48	2	96	32	90.0	16	90.7
Side	50	47	3	94	38	88.8	9	87.6