Figure 2.
(a) Typical attacking pattern, ball passing, in a soccer field. The goalkeeper has to predict who will make the final kick to make a decision on his jump to reach the ball in the current play. (b) Example of past episode interaction during the recall from EM. Variables Ek represent the kth episode in the past according to system (2.3)–(2.6), i.e. a particular play in the past. In this example, episode 1 prevails. Inset shows a blow up of time 0–17 arb. units where the past episodes are being evaluated/compared with the present episode according to equation (2.6). Parameters for this simulation are listed in the electronic supplementary material. (Online version in colour.)