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Figure 4 – uploaded by Joydeep Biswas

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Figure 4: A Simple Temporal Network (STN) for pass-ahead. The letters inside each node indicate whether the passing agent (P) or receiving agent (R) is involved in that event. Ty indicates a maximum allowable time to search for a pass location.

Figure 4 A Simple Temporal Network (STN) for pass-ahead. The letters inside each node indicate whether the passing agent (P) or receiving agent (R) is involved in that event. Ty indicates a maximum allowable time to search for a pass location.

Related Figures (6)

Figure 1: The CMDragons robots, showing (left) a robot with the ball, (middle) without the cover, and (right) without the electronic main board.
Figure 1: The CMDragons robots, showing (left) a robot with the ball, (middle) without the cover, and (right) without the electronic main board.
Figure 2: The estimated probability that a pass from the ball location (orange circle) will not be inter- cepted. This probability is high for locations with ball trajectories that pass far from opponents, such as a, and low for those with ball trajectories that pass close, such as b. Some passes, such as c, pass close to the opponent but can still be successful us- ing chip passes, although the prior success proba- bility for those is lower than for regular passes, as indicated by the gray region to the right.
Figure 2: The estimated probability that a pass from the ball location (orange circle) will not be inter- cepted. This probability is high for locations with ball trajectories that pass far from opponents, such as a, and low for those with ball trajectories that pass close, such as b. Some passes, such as c, pass close to the opponent but can still be successful us- ing chip passes, although the prior success proba- bility for those is lower than for regular passes, as indicated by the gray region to the right.
Figure 3: The estimated probability that a given lo- cation x has a wide enough open angle on the oppo- nents’ goal (blue line) to score a goal. The left image shows a location with a wide open angle, ideal for a shot. The right image shows two locations with relatively small open angles, one due to obstruction by a robot and distance from the goal, and the other because of its location near the corner of the field.
Figure 3: The estimated probability that a given lo- cation x has a wide enough open angle on the oppo- nents’ goal (blue line) to score a goal. The left image shows a location with a wide open angle, ideal for a shot. The right image shows two locations with relatively small open angles, one due to obstruction by a robot and distance from the goal, and the other because of its location near the corner of the field.
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