RoboCup-99: Robot Soccer World Cup III

Lecture Notes in Artificial Intelligence 1856 Subseries of Lecture Notes in Computer Science Edited by J.G. Carbonell and J. Siekmann Lecture Notes in Computer Science Edited by G. Goos, J. Hartmanis and J. van Leeuwen 3 Berlin Heidelberg New York Barcelona Hong Kong London Milan Paris Tokyo Manuela Veloso Enrico Pagello Hiroaki Kitano (Eds.) RoboCup-99: Robot Soccer World Cup III 1 3 Series Editors Jaime G. Carbonell, Carnegie Mellon University, Pittsburgh, PA, USA Jo¨rg Siekmann, University of Saarland, Saabru¨cken, Germany Volume Editors Manuela Veloso Carnegie Mellon University, School of Computer Science Computer Science Department, Pittsburgh, PA 15213-3890, USA E-mail: veloso@cs.cmu.edu Enrico Pagello The University of Padua, Department of Electronics and Informatics (DEI) Via Gradenigo 6/a, 35131 Padova, Italy E-mail: epv@dei.unipd.it Hiroaki Kitano Sony Computer Science Laboratories, Inc. 3-14-13 Higashi-Gotanda, Shinagawa, Tokyo 141-0022, Japan E-mail: kitano@csl.sony.co.jp Cataloging-in-Publication Data applied for Die Deutsche Bibliothek - CIP-Einheitsaufnahme RoboCup <3, 1999, Stockholm>: Robot Soccer World Cup III / RoboCup-99. Manuela Veloso ... (ed.). -Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong ; London ; Milan ; Paris ; Singapore ; Tokyo : Springer, 2000 (Lecture notes in computer science ; Vol. 1856 : Lecture notes in artificial intelligence) ISBN 3-540-41043-0 CR Subject Classification (1998): I.2, C.2.4, D.2.7, H.5, I.5.4, I.6, J.4 ISBN 3-540-41043-0 Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable for prosecution under the German Copyright Law. Springer-Verlag Berlin Heidelberg New York a member of BertelsmannSpringer Science+Business Media GmbH c Springer-Verlag Berlin Heidelberg 2000 Printed in Germany Typesetting: Camera-ready by author Printed on acid-free paper SPIN: 10722175 06/3142 5 4 3 2 1 0 ! " # $ # % & ’(")*+ & ’(***+ , Æ $ $ - $ # . ’+ //0 ’+ , 0 ’+ #0 ’/+ $ , / // $ 1 $ # / / "* $ 1 / $ # # . / & & /& $ , / # $ # # $ / /$ , / 11 $ 2 # $ 2 , 3 4 *** 1 *** 4 ***$ #$ 5 2 / $ / % / / , $ *** 4 6 3 7 5# 8 ... - tailieumienphi.vn