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-16.

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

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

And, install librcsc.

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

./bootstrap
./configure
make

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

./start.sh

You may need to configure the build settings if you installed librcsc to an unusual location. You can specify the installed location of librcsc by using --with-librcsc option as follows:

./configure --with-librcsc=/path/to/librcsc

Usually, this value is the same as --prefix option of configuring librcsc. You may also need to set the environment variable LD_LIBRARY_PATH.

See ./configure --help for others options.

The paper about Cyrus2D Base: -- coming soon

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