The binaries in this directory are the ATT-CMUnited-2000 simulatedrobotic soccer team which competed at RoboCup2000. It was created byPatrick Riley, Peter Stone, David McAllester, and ManuelaVeloso. Please contact Patrick Riley <pfr@cs.cmu.edu> or Peter Stone<pstone@research.att.com>. Note that this software is provided as-isand is unsupported. There are two binaries: peterclient (for the players on the field) and coach (for the on-line coach). They were compiled under Linux RH5.2,but they should also run under RH6.x and other versions of Linux. Ifyou would like to have compiled binaries for another platform, please contact us and we may be able to do that.Note that we have some associated tools (such as the trainer and theLayered Disclosure logplayer). These can be downloaded from ourCMUnited99 web site as they as essentially unchanged from the previous yearhttp://www.cs.cmu.edu/~pstone/RoboCup/CMUnited99-sim.html***************Included Papers***************We have included two papers which have been submitted to Autonomous Agents 2001.@InProceedings(priley-AA01-coaching,  Author =	 "Patrick Riley and Manuela Veloso",  Title =	 "Adaptive Team Coaching Using Opponent Model Selection",  BookTitle =	 "Submitted to the Fifth International Conference on                  Autonomous Agents",  Year =	 2001) is in coaching.ps.gz@InProceedings(pstone-AA01-keepaway,  Author =	 "Peter Stone and David McAllester",  Title =	 "An Architecture for Action Selection in Robotic                  Soccer",  BookTitle =	 "Submitted to the Fifth International Conference on                  Autonomous Agents",  Year =	 2001) is in keepaway.ps.gzThese papers describe the primary improvements of ATT-CMUnited-2000.**********************Running the clients**********************The easiest way to run the clients is to use the given 'start'script, which takes (optionally) the machine to connect to and theteam name to use. It starts up 11 players and the coach.Note that you need to wait a couple of seconds after the playersconnect for the coach to connect. The coach will print "Coach started"on standard out once it has connected and initialized.Also note that once you kill the server, the players and coach*should* exit automatically. It may however, take a few seconds forthis to happen.When you run the client, it is normal to see a few errors of the form:PETER's ERROR (player 8, time 2.0): Only 2 interrupts last cyclePETER's ERROR (player 1, time 15.0): Missed a cycle??However, if you are getting many errors of this form, the players donot have enough computation power and will not perform well.Many aspects of the play of the game are controlled by the .conf filesettings. The .conf files given here are the ones used at RoboCup-2000Feel free to change the values, though you are warned that some ofthem may have unexpected consequences and not all are documented verywell.***********FILES***********The files in this directory are:README: you're reading it right nowcoach: the executable for the on-line coachpeterclient: the executable for the playerquicksleep: a little program that sleep for 1ms, used to keep players            from connecting too quickly  start: A script to start all players and the coachcoach.conf: configuration file for the coachclient.conf: configuration file for the playerserver.conf: configuration file for server parameters (from v6.06 of             the soccer server)share.conf: configuration file shared by the coach and playerPlans/: this directory holds some default plans and some "seeds" used        in the coach's planning for each set play  *********************************More information and downloads*********************************The source code for our low levels (server interactions, world model,and basic skills) is largely unchanged from the CMUnited99team. Please see the CMUnited99 team web page if you are interested in getting source code for the low levelshttp://www.cs.cmu.edu/~pstone/RoboCup/CMUnited99-sim.html                                                                    Please see our team web page(http://www.cs.cmu.edu/~pstone/RoboCup/ATTCMUnited2000-sim.html) whichhas pointers to a team description and other papers describing ourteam. Also, we would appreciate an email if you start using thesebinaries for any evaluations.Thank youThe ATT-CMUunited-2000 Simulator Team DevelopersPatrick RileyPeter StoneDavid McAllesterManuela Veloso