Although the flexible teamwork and communication paradigm
implementations are merged into a single robotic soccer system, we are
able to isolate the effects of each contribution through controlled
testing. This section presents empirical results demonstrating the
effectiveness of both main contributions of this article: the flexible
teamwork structure and the low-bandwidth communication paradigm. In
addition, the results of the CMUnited-97 simulator team at the
RoboCup-97 competition are reported
.