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This paper presents the latest progress of WrightEagle, the champion of RoboCup 2D simulation league. We introduce a decision-making framework, an extension of MAXQ-OP framework using multiple heuristic functions and a reachable state checking method. The experimental results show that our approach improves the quality of solutions in complex situations.

The Decision-Making Framework of WrightEagle, the RoboCup 2013 Soccer Simulation 2D League Champion Team