The CMUNITED-99 Champion Simulator Team

The CMUMʹiʹEi)-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. CMUMTED-99 builds on the successful CMUNITED-98 implementation but also improves on it in many ways. This article gives an overview of CMUNiʹihD-99ʹs improvements over CMUNiʹiʹED-98.