The CMUnited-99 Champion Simulator

@inproceedings{Stone1999TheCC,
  title={The CMUnited-99 Champion Simulator},
  author={T E Stone and Patrick Riley and Manuela M. Veloso},
  year={1999}
}
The CMUnited-99 simulator team became the 1999 RoboCup simulator league champion by winning all 8 of its games, outscoring opponents by a combined score of 110{0. CMUnited-99 builds upon the successful CMUnited-98 implementation, but also improves upon it in many ways. This paper gives a detailed presentation of CMUnited-99's improvements over CMUnited-98. 

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