Cyrus2D Base

Cyrus2D-base is a sample team for the RoboCup Soccer 2D Simulator. This base is a Helios base Fork. We merged the newest version of Helios base(Agent2D) with the Gliders2D base V2.6 together, After that we applied several features of Cyrus2021, the champion of RoboCup 2021 in Soccer Simulation 2D league to improve the performance and capabilities of this base.

All programs can work with rcssserver-18.

• The RoboCup Soccer Simulator: http://github.com/rcsoccersim/
• RoboCup Official Homepage: http://www.robocup.org/

Quick Start

The latest Cyrus2D-base depends on the following libraries:

• Boost 1.38 or later https://www.boost.org/
• The latest helios librcsc https://github.com/helios-base/librcsc

In the case of Ubuntu 16.04 or later, execute the following commands for installing a basic development environment:

sudo apt update
sudo apt install build-essential libboost-all-dev cmake

And, install librcsc (compatible with librcsc-master-4c45970):

git clone https://github.com/helios-base/librcsc.git
git checkout 19175f339dcb5c3f61b56a8c1bff5345109f22ef
cd librcsc
mkdir build
cd build
cmake ..
make
make install

After that, install Eigen3: https://eigen.tuxfamily.org/dox/index.html

sudo apt install libeigen3-dev

Then, install CppDNN:

git clone https://github.com/Cyrus2D/CppDNN.git
cd CppDNN
mkdir build
cd build
cmake ..
make
sudo make install

To build binaries, execute commands from the root of source directory:

mkdir build
cd build
cmake ..
make

To start the cyrud2d team, invoke the start script in bin directory.

cd build/bin
./start.sh

Change Logo

• Create a logo with the size of 256x64 pixels and save it as a png file. width: 256px, height: 64px
• Decrease number of colors to 20 (https://onlinepngtools.com/decrease-png-color-count)
• Convert the png file to xpm (https://www.onlineconvert.com/png-to-xpm)
• Open the xpm file and change the name of char * variable to "team_logo_xpm". The second line should be "static const char *team_logo_xpm[] = {"
• Copy content of the file and paste it in src/team_logo_xpm

References

The paper about Cyrus2D Base:

• Zare N, Amini O, Sayareh A, Sarvmaili M, Firouzkouhi A, Rad SR, Matwin S, Soares A. Cyrus2D Base: Source Code Base for RoboCup 2D Soccer Simulation League. InRoboCup 2022: Robot World Cup XXV 2023 Mar 24 (pp. 140-151). Cham: Springer International Publishing.
• Zare N, Sarvmaili M, Sayareh A, Amini O, Matwin S, Soares A. Engineering Features to Improve Pass Prediction in Soccer Simulation 2D Games. InRobot World Cup 2022 (pp. 140-152). Springer, Cham.
• Zare N, Amini O, Sayareh A, Sarvmaili M, Firouzkouhi A, Matwin S, Soares A. Improving Dribbling, Passing, and Marking Actions in Soccer Simulation 2D Games Using Machine Learning. InRobot World Cup 2021 Jun 22 (pp. 340-351). Springer, Cham.

The paper about HELIOS Base:

• Hidehisa Akiyama, Tomoharu Nakashima, HELIOS Base: An Open Source Package for the RoboCup Soccer 2D Simulation, In Sven Behnke, Manuela Veloso, Arnoud Visser, and Rong Xiong editors, RoboCup2013: Robot World XVII, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2014. http://dx.doi.org/10.1007/978-3-662-44468-9_46

The paper about Gliders2D Base:

• M. Prokopenko, P. Wang, Fractals2019: Combinatorial Optimisation with Dynamic Constraint Annealing, RoboCup 2019: Robot World Cup XXIII, 616-630 (Champion paper), Springer-Verlag, 2019; also: arXiv:1909.01788, 2019.
• M. Prokopenko, P. Wang, Gliders2d: Source Code Base for RoboCup 2D Soccer Simulation League, RoboCup 2019: Robot World Cup XXIII, 418-428, Springer-Verlag, 2019; also: arXiv:1812.10202, 2018.

Related works:

• going to be compeleted soon.

• Hidehisa Akiyama, Tomoharu Nakashima, HELIOS Base: An Open Source Package for the RoboCup Soccer 2D Simulation, In Sven Behnke, Manuela Veloso, Arnoud Visser, and Rong Xiong editors, RoboCup2013: Robot World XVII, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2014. http://dx.doi.org/10.1007/978-3-662-44468-9_46

• Hidehisa Akiyama, Daisuke Katagami, Katsumi Nitta, Team Formation Construction Using a GUI Tool in the RoboCup Soccer Simulation, SCIS & ISIS, 2006, Volume 2006, SCIS & ISIS 2006, Session ID TH-D2-5, Pages 80-85, Released September 12, 2008, https://doi.org/10.14864/softscis.2006.0.80.0

• Hidehisa Akiyama, Daisuke Katagami, Katsumi Nitta, Training of Agent Positioning using Human's Instruction, Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol. 11 No.8, pp.998--1006, 2007-10-20. https://doi.org/10.20965/jaciii.2007.p0998

• 秋山 英久, 野田 五十樹, エージェント配置問題における三角形分割を利用した近似モデル, 人工知能学会論文誌, 2008, 23 巻, 4 号, p. 255-267, 公開日 2008/04/24, Online ISSN 1346-8030, Print ISSN 1346-0714, https://doi.org/10.1527/tjsai.23.255

• Hidehisa Akiyama, Itsuki Noda, Multi-Agent Positioning Mechanism in the Dynamic Environment, In Ubbo Visser, Fernando Ribeiro, Takeshi Ohashi, and Frank Dellaert, editors, RoboCup 2007: Robot Soccer World Cup XI Lecture Notes in Artificial Intelligence, vol. 5001, Springer, pp.377-384, July 2008. https://doi.org/10.1007/978-3-540-68847-1_38

• Hidehisa Akiyama, Tomoharu Nakashima, Shigeto Aramaki, Online Cooperative Behavior Planning using a Tree Search Method in the RoboCup Soccer Simulation, Proc. of 4th IEEE International Conference on Intelligent Networking and Collaborative Systems (INCoS-2012), 2012 Sep. https://doi.org/10.1109/iNCoS.2012.83

• Hidehisa Akiyama, Tomoharu Nakashima, HELIOS2012: RoboCup 2012 Soccer Simulation 2D League Champion, RoboCup 2012: Robot Soccer World Cup XVI Lecture Notes in Computer Science Volume 7500, pp.13-19, June 2013. http://dx.doi.org/10.1007/978-3-642-39250-4_2

• Takuya Fukushima, Tomoharu Nakashima, Hidehisa Akiyama, Mimicking an Expert Team through the Learning of Evaluation Functions from Action Sequences, RoboCup 2018: Robot World Cup XXII Lecture Notes in Computer Science, Vol. 11374, Springer, Cham, pp 170-180, 04 August 2019 https://doi.org/10.1007/978-3-030-27544-0_14

• Hidehisa Akiyama, Tomoharu Nakashima, Takuya Fukushima, Jiarun Zhong, Yudai Suzuki, An Ohori, HELIOS2018: RoboCup 2018 Soccer Simulation 2D League Champion, RoboCup 2018: Robot World Cup XXII, Lecture Notes in Computer Science, Vol.11374, Springer, Cham, pp.450-461, 04 August 2019. https://doi.org/10.1007/978-3-030-27544-0_37

• 福島卓弥, 中島智晴, 秋山英久, RoboCupサッカーにおけるニューラルネットワークを用いた評価関数モデリング, 電気学会論文誌Ｃ（電子・情報・システム部門誌）, 2019, 139 巻, 10 号, pp. 1128-1133, 2019-10-01 https://doi.org/10.1541/ieejeiss.139.1128

• 秋山 英久, 中島 智晴, 五十嵐 治一, RoboCup サッカーシミュレーションにおける局面評価の表現法と学習法, 知能と情報, 2020, 32 巻, 2 号, p. 691-703, 公開日 2020/04/15, Online ISSN 1881-7203, Print ISSN 1347-7986, https://doi.org/10.3156/jsoft.32.2_691

• Takuya Fukushima, Tomoharu Nakashima, Hidehisa Akiyama, Evaluation-function modeling with multi-layered perceptron for RoboCup soccer 2D simulation, Artificial Life and Robotics, Volume 25, issue 3, pp.440-445, 2020-04-30. https://doi.org/10.1007/s10015-020-00602-w