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defender and attacker groups according to this
agent’s messages. We compared our method against
our previous Voronoi cell approach that is combined
with a static group formation algorithm, and earlier
methods. The results illustrate that the new approach
outperforms the other approaches. In our future
work, we plan to change the team leader to
determine the group behaviors dynamically in run
time. In order to provide a better formation, we plan
to assign the captain role to the agent that has the
best angle of view on the field dynamically.
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