Deliberation in highly-dynamic domains such as robotic soccer requires a rich representation language that can deal with continuous change, uncertainty, and multiple agents, among other things. For this purpose we have developed the language ICPGOLOG, a variant of the logic-based action language GOLOG. We show how to specify plans for soccer agents such as playing a double pass in ICP-GOLOG and report on experimental results in the ROBOCUP SIMULATION league. We have also recently integrated ICPGOLOG as the high-level control language into our MID-SIZE soccer team. We discuss the software architecture and some of the differences between agent modeling in the SIMU-LATION and MID-SIZE league. 1
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