ROBOCUP-97 MIDDLE-SIZE LEAGUE WORLD COCHAMPION

This article describes a milestone in our research efforts toward the real robot competition in RoboCup. We participated in the middle-size league at RoboCup-97, held in conjunction with the Fifteenth Internati onal Joint Conference on Artificial Intelligence in Nagoya, Japan. The most significant features of our team, TRACKIES, are the application of a reinforcement learning method enhanced for real robot application s and the use of an omnidirectional vision system for our goalie that can capture a 360-degree view at any instant in time. The method and t he system used are shown with competition results.