Robotic soccer is a very good domain for studying real-time multi-agent coordination techniques: agents must act quickly and autonomously while contributing to the achievement of the team's overall goal [4, 7]. Robotic soccer systems have been recently developed both in simulation [9, 14, 15] and with real robots [1, 3, 12, 13, 20]. The research presented in this paper was developed jointly in simulation and on our real robot team.