2021 – TDP – BahiaRT – RoboCupSoccer – Simulation – 3D

This paper describes the significant enhancements in team BahiaRT since RoboCup 2019. We describe our work about setplays de- velopment, including some enhancements on existing tools for setplays design and learning setplays from demonstration. The paper presents a list of minor improvements with a high impact on the team’s over- all performance. These modifications are related to path-planning, self- collisions reducing, shots to goal, and defensive organization. We sum- marize the projects we still working on at the end of the paper. They are related to making decisions under imprecise conditions, kick optimiza- tion, and learning setplays.