Marking Techniques
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Marking TechniquesMost of the teams in RoboCup 2000 were surprised by the marking abilities of FC Portugal and could not play their normal game because all their possible passing lines were always marked. Marking in FC Portugal is one of the Ball Recovery behaviors and it is only used when the opponents have the control of the ball. Marking behavior is entered if an uncovered passing line may be well marked in a point near the player strategic positioning. Utilities for marking close pass lines are calculated and teammate modeling techniques are used to decide which line (if any) to mark. In stopped game situations marking is stronger, namely in opponent’s goalie free kicks. During opponent's goalie free kicks our players mark passing lines from previous goalie reposition points, communicated by the online coach. |
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