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Robot Soccer involves planning at many levels, and in this paper we develop high level planning strategies for robots playing in the RoboCup Four- Legged League using case based reasoning. We develop a framework for devel- oping and choosing game plays. Game plays are widely used in many team sports e.g. soccer, hockey, polo, and rugby. One of the current challenges for robots play- ing in the RoboCup Four-Legged League is choosing the right behaviour in any game situation. We argue that a e xible theoretical model for using case based reasoning for game plays will prove useful in robot soccer. Our model supports game play selection in key game situations which should in turn signicantly advantage the team.

Case Based Game Play in the RoboCup Four-Legged League Part I The Theoretical Model