{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,23]],"date-time":"2025-12-23T18:58:13Z","timestamp":1766516293773,"version":"build-2065373602"},"reference-count":15,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2019,7,19]],"date-time":"2019-07-19T00:00:00Z","timestamp":1563494400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["JP16K00430"],"award-info":[{"award-number":["JP16K00430"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]},{"name":"The Hibi Science Foundation","award":["\u5e73\u621030\u5e74\u5ea6\u7814\u7a76\u52a9\u6210\uff08\u4e00\u822c\u8ab2\u984c\uff09No.40"],"award-info":[{"award-number":["\u5e73\u621030\u5e74\u5ea6\u7814\u7a76\u52a9\u6210\uff08\u4e00\u822c\u8ab2\u984c\uff09No.40"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper addresses a strategy learning problem in the RoboCupSoccer Small Size League (SSL). We propose a novel method based on action sequences to cluster an opponent\u2019s strategies online. Our proposed method is composed of the following three steps: (1) extracting typical actions from geometric data to make action sequences, (2) calculating the dissimilarity of the sequences, and (3) clustering the sequences by using the dissimilarity. This method can reduce the amount of data used in the clustering process; handling action sequences instead of geometric data as data-set makes it easier to search actions. As a result, the proposed clustering method is online feasible and also is applicable to countering an opponent\u2019s strategy. The effectiveness of the proposed method was validated by experimental results.<\/jats:p>","DOI":"10.3390\/robotics8030058","type":"journal-article","created":{"date-parts":[[2019,7,22]],"date-time":"2019-07-22T02:55:37Z","timestamp":1563764137000},"page":"58","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Online Strategy Clustering Based on Action Sequences in RoboCupSoccer Small Size League"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4780-1804","authenticated-orcid":false,"given":"Yusuke","family":"Adachi","sequence":"first","affiliation":[{"name":"School of Information Science and Technology, Aichi Prefectural University, 1522-3 Ibaragabasama, Nagakute, Aichi 480-1198, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9502-187X","authenticated-orcid":false,"given":"Masahide","family":"Ito","sequence":"additional","affiliation":[{"name":"School of Information Science and Technology, Aichi Prefectural University, 1522-3 Ibaragabasama, Nagakute, Aichi 480-1198, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tadashi","family":"Naruse","sequence":"additional","affiliation":[{"name":"School of Information Science and Technology, Aichi Prefectural University, 1522-3 Ibaragabasama, Nagakute, Aichi 480-1198, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,7,19]]},"reference":[{"key":"ref_1","unstructured":"(2019, April 25). RoboCup Federation RoboCup Federation Official Website. Available online: http:\/\/www.robocup.org\/objective."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Baltes, J., Lagoudakis, M.G., Naruse, T., and Ghidary, S.S. (2010). SSL-Vision: The Shared Vision System for the RoboCup Small Size League. RoboCup 2009: Robot Soccer World Cup XIII. RoboCup 2009, Springer. Lecture Notes in Computer Science.","DOI":"10.1007\/978-3-642-11876-0"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Quintero, C., Rodr\u00edguez, S., P\u00e9rez, K., L\u00f3pez, J., Rojas, E., and Calder\u00f3n, J. (2015). Learning Soccer Drills for the Small Size League of RoboCup. RoboCup 2014: Robot World Cup XVIII. RoboCup 2014, Springer. Lecture Notes in Computer Science.","DOI":"10.1007\/978-3-319-18615-3_32"},{"key":"ref_4","unstructured":"Erdogan, C., and Veloso, M. (2011, January 16\u201322). Action selection via learning behavior patterns in multi-robot domains. Proceedings of the International Joint Conference on Artificial Intelligence 2011, Barcelona, Spain."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Behnke, S., Veloso, M., Visser, A., and Xiong, R. (2014). Analyzing and Learning an Opponent\u2019s Strategies in the RoboCup Small Size League. RoboCup 2013: Robot World Cup XVII. RoboCup 2013, Springer. Lecture Notes in Computer Science.","DOI":"10.1007\/978-3-662-44468-9"},{"key":"ref_6","first-page":"1297","article-title":"Classifying an opponent\u2019s behaviors for real-time learning in the RoboCup small size league","volume":"J97-D","author":"Yasui","year":"2014","journal-title":"IEICE Trans. Inf. Syst."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Iocchi, L., Matsubara, H., Weitzenfeld, A., and Zhou, C. (2009). Detection of Basic Behaviors in Logged Data in RoboCup Small Size League. RoboCup 2008: Robot Soccer World Cup XII. RoboCup 2008, Springer. 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Assoc."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/BF01908075","article-title":"Comparing partitions","volume":"2","author":"Hubert","year":"1985","journal-title":"J. Classif."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Monajjemi, V., Koochakzadeh, A., and Ghidary, S.S. (2012). grSim\u2014RoboCup Small Size Robot Soccer Simulator. RoboCup 2011: Robot Soccer World Cup XV. RoboCup 2011, Springer.","DOI":"10.1007\/978-3-642-32060-6_38"}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/8\/3\/58\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T13:07:29Z","timestamp":1760188049000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/8\/3\/58"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,19]]},"references-count":15,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2019,9]]}},"alternative-id":["robotics8030058"],"URL":"https:\/\/doi.org\/10.3390\/robotics8030058","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2019,7,19]]}}}