AIN-Based Action Selection Mechanism for Soccer Robot Systems

Table 1

Actions of geometry thinking ASM [5].

Chase ball	When robot is far away from ball, this action is given to go after the ball.
Dribble ball	If robot is close to the ball, this action is called to take control of the ball.
Shoot ball	If robot is close to the ball and goal, this action is used to shoot the ball.
Sweep ball	While the ball is in the corner or boundary, the robot uses this action to sweep the ball out.
Goal keeping	Robot playing as a goal keeper gets this action to prevent losing point.
Blocking	If an opponent and the ball are close to our goal, the closest robot goes between the opponent and ball trying to block the way.
Active attack	If ball is near the opponent’s goal, the closest robot will play as an attacker.
Assist attack	Robot closest to the attacker gets ready to attack in case the attacker misses.