Strategy Planner: Enhancements to support better defense and pass strategies within an LfD approach

This work presents recent improvements to Strategy Planner (SPlanner) and its corresponding FCPortugal Setplays Framework (FSF) to provide sophisticated setplays. This toolkit is useful to design strategic plans for robotic soccer teams as a particular case of Multi-Agent Systems (MASs). The new enhancements enable more realistic setplays, including, but not limited to, the definition of better passes strategies and defensive setplays. The enhanced tool is used to populate a dataset with demonstrations made by soccer experts and used in a Learning from Demonstration (LfD) approach to allow teams of robotic soccer learning new setplays.