As described in Section 
, ML techniques have been
studied in the Soccer Server in isolated situations. However, the
resulting behaviors have not yet been tested in full game situations.
In this paper, we examine the effectiveness in game situations of the
DT learned in [Stone and Veloso1997a].
To our knowledge, this paper reports the first use of DTs for agent control. In particular, the confidence factors that are returned along with classifications can be used to differentiate precisely among several options.