Computer Science Department
Carnegie Mellon University
Pittsburgh, PA  
USA

Winner of RoboCup99 - Simulation League

Copyright 1998 Peter Stone, Patrick Riley, Manuela Veloso
			(All rights reserved)

This directory contains an executable of CMUnited99 for Linux.  It is
designed to work with soccer sevrver version 5.x as was run at
RoboCup99 in Stockholm.  

To run the executable, you need to download the simulation software
(soccerserver and soccermonitor).  

To start the agents, type 'start <servername> <teamname>' where
<servername> is the name of the machine running the server.

This directory contains:

+ the main executable (CMUnited99)
+ a client configuration file (client.conf)
+ the server configuration file (server.conf)
+ two decision tree data files (dt-data.*)
+ a start script (start)
+ this README file
+ CMUnited-98-sim.ps.Z: an article describing some of the features of
  the CMUnited-98 team 

If you see many errors of the form: 

> PETER's ERROR (player 9, time 354.0): Server missed a turn at time 353

Then the clients are not able to keep up with the server speed.
There are two possible solutions.

1)  Distribute the server and clients among more and/or faster machines
2)  Slow down the server by increasing simulator_step and send_step in
    server.conf.  If you do this, make sure that they stay in the same
    ratio and make sure that the simulator and clients are reading the
    same server.conf file.

For further information see:
	http://www.cs.cmu.edu/~robosoccer
To contact us write an email to:
	pstone@cs.cmu.edu


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