This paper presents three case-based reasoning (CBR) prototypes developed for the RoboCats, a team of five soccer playing robots in the RoboCup small size league. CBR is used to help the Robo-Cats plan individual moves and team strategies, as well as to model the world of the playing field. More specifically, the case-based reasoners posi-tion the goalie, select team formations, and rec-ognize
... [Show full abstract] game states for the RoboCats. This paper also discusses issues and opportunities for CBR in RoboCup and other endeavors in which physical agents must operate in dynamic, real-time environ-ments.
