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Using potential-elds is a seldomly used technique in RoboCup scenarios. The existing approaches mainly concentrate on world state representation on single actions such as a kick. In this paper we will show how to apply potential elds to assist fast and precise deci- sions in an easy and intuitive way. We go beyond the existing approaches in using potential elds to determine all possible player actions, basic and advanced tactics an also general player behaviors. To ensure fast com- puting we mainly use basic mathematical computation for potential eld related calculations. This gives us the advantage of both determining and understanding player actions. Therefore, integrating future features such as a complex online coach and progressive localization methods will be easier. We implemented the approach in our team Bremen University Goal Seekers (BUGS) and tested it in numerous games against other simulation league teams. The results show that CPU-time of making a decision per team has been decreased signicantly. This is a crucial improvement for calculations in time-critical environments.

Decision-Making and Tactical Behavior with Potential Fields