Tham khảo tài liệu 'evolutionary robotics part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 72 Frontiers in Evolutionary Robotics restrictions of any situation. The situations are listed in table 1. Three roles were defined for the robots Goalkeeper midfield and striker all of them depend on the robot position at each sampling time. Almost all situations are independent of the robot s role. The situations with codes 162 163 173 and 174 depend on the robot role when a situation starts. For that purpose roles are arranged in a circular list . Goalkeeper midfield striker . The recognition of a situation passes through two stages Verification of possibility and verification of occurrence. The verification of possibility is made with a fuzzy rule called Initial Condition . If at any time the game this rule is satisfied then the situation is marked as possible to happen. This means that in the future the rule for verification of occurrence should be evaluated Final Condition . If the situation is scheduled as possible to happen in every sampling time in the future the fuzzy rule Final Condition will be checked. The system has certain amount of time to verify this condition. If past the time limit this condition is not fulfilled then the mark of possible to happen is deleted for that situation. As shown in table 1 each situation has a priority for recognition on the fuzzy inference machine. Situations with priority 1 has the highest priority and situations with priority 24 have less priority. Recognizing Behaviors of Other Robots After recognizing all the situations for each of the robots of the analyzed time the codes of these situations will be passed by self-organized maps SOM proposed by Kohonem. Both the recognition of situations and the recognition of patterns of behaviours are done offline and after each training game. At the beginning of the process four groups of successive events are generated. They are considered all possible combinations of successive grouping of situations without changing their order which means that each situation may be
