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This paper discusses the design of the team Zeng99. The goal of team Zeng99 is to show a performance of Hierarchical Fuzzy Intelligent Control system in the field of multi agent problems. It worked well at RoboCup99 competition, even with little error in an invoking clients. It also allow independent/cooperative development client by client.

Zeng99: RoboCup simulation team with Hierarchical Fuzzy Intelligent Control and Cooperative Development