Integrating multi-agent approaches to tactical diversity

We summarize approaches to tactical diversity, mobility and field control developed over the recent years in team Gliders, ranging from tactic-dependent evaluation and selection of players’ actions, to dynamic tactics based on Voronoi Diagrams, to tactical analysis and opponent modeling with information dynamics, to a bio-inspired mechanism for dynamic repositioning. All these approaches are sufficiently generic to be applicable to other RoboCup Soccer Leagues and various team sports scenarios. The reviewed approaches have been integrated in Gliders2016 and successfully tested against benchmarks.