With the growing importance of multiagent team-work, tools that can help humans analyze, evaluate, and understand team behaviors are also becoming increasingly important. To this end, we are creating isaac, a team analyst agent for post hoc, offline agent-team analysis. ISAAC'S novelty stems from a key design constraint that arises in team analysis: Multiple types of models of team behavior are necessary to analyze different granularities of team events, including agent actions, interactions, and global performance. These heterogeneous team models are automatically acquired by machine learning over teams' external behavior traces, where the specific learning techniques are tailored to the particular model learned. Additionally, ISAAC uses multiple presentation techniques that can aid human understanding of the analyses. This article presents ISAAC'S general conceptual framework and its application in the RoboCup soccer domain, where ISAAC was awarded the RoboCup Scientific Challenge Award.

The CMUNITED-99 simulator team became the 1999 RoboCup simulator league champion by winning all 8 of its games, outscoring opponents by a combined score of 110-0. CMUNITED-99 builds on the successful CMUNITED-98 implementation but also improves on it in many ways. This article gives an overview of CMUNITED-99's improvements over CMUNITED-98.

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RoboCup is an initiative designed to promote the full integration of AI and robotics research. Following the success of the first RoboCup in 1997 at Nagoya (Kitano 1998; Noda et al. 1998) and the second RoboCup in Paris in 1998, the Third Robot World Cup Soccer Games and Conferences, RoboCup-99, were held in Stockholm from 27 July to 4 August 1999 in conjunction with the Sixteenth International Joint Conference on Artificial Intelligence (IJCAI-99). There were four different leagues: (1) the simulation league, (2) the small-size real robot league, (3) the middle-size real robot league, and (4) the Sony legged robot league. RoboCup-2000, the Fourth Robot World Cup Soccer Games and Conferences, will take place in Melbourne, Australia, in August 2000.