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Robotic soccer is a challenging research domain that involves multiple agents that need to collaborate in an adversarial environment to achieve specific objectives. Robotic soccer is an example of such complex tasks for which multiple agents need to collaborate in an adversarial environment to achieve specific objectives. Robotic soccer offers a challenging research domain to investigate a large spectrum of issues relevant to the development of complete autonomous agents (Asada et al. 1998; Kitano, Tambe, et al. 1997). The fast-paced nature of the domain necessitates real-time sensing coupled with quick behaving and decision making. The behaviors and decision-making processes can range from the most simple reactive behaviors, such as moving directly toward the ball, to arbitrarily complex reasoning procedures that take into account the actions and perceived strategies of teammates and opponents.