Abstract
In the Middle Size Robot League (MSL) of RoboCup Soccer, many studies have been discussing about various approaches for realizing cooperative play. However, they are mainly discussing offensive behaviors such as a pass, a dribble and a shoot action, and then it is not including defensive behavior. Hence, we have been discussing cooperative defensive behavior for RoboCup Soccer. In order to achieve proposal system, we have developed and implemented DELAY behavior to our RoboCup MSL team "The_Nishikey" as the first step. DELAY is a part of action of cooperative defensive behavior of the robot. DELAY is a defensive behavior which keeps distance with the enemy carrying ball constant, and intercepts continuous cooperative play such as the pass and the shoot to delay the enemy action. This paper describes a development of DELAY. Through an experiment, we confirmed that DELAY was available for cooperative defensive behavior.
