The Soccer Simulation 2D League is one of the oldest competitions among the RoboCup leagues. In the simulation 2D league, the simulator enables two teams of 11 simulated autonomous agents to play a game of soccer with highly realistic rules and game play. This paper introduces the RoboCup 2012 Soccer Simulation 2D League champion team, HELIOS2012, a joint team of Fukuoka University and Osaka Prefecture University.
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