Strategic planning and multi-agent coordination are major research topics in the domain of RoboCup. Research was, in the first years, directed towards development of low level skills and positional co-ordination. The competitive level has in between risen to new standards, which makes the development of highlevel co-operation necessary. The importance of the concept of Setplay, i.e., small multirobot plans to deal with particular situations, to structure a robotic soccer team behaviour, has

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... acknowledged by many researchers, but no general framework for the development and execution of generic Setplays has been introduced in the context of RoboCup. This paper presents such a framework for high-level Setplay definition and execution in the 2D simulation league, though applicable to any RoboCup co-operative league and similar domains. The framework is built upon a standard, flexible and league-independent language, which defines Setplays that are interpreted and executed at run-time, using inter-robot communication. A major step in the development of the Setplay framework is its usage and testing in the scope of the FCPortugal team, which participates in the RoboCup 2D-simulation league, where it won several titles. After this successful implementation, described in this paper, the framework will be used in the mid-size league, and possibly in other new environments. Recent developments have made it possible to use Setplays in play-on situations, which had not been possible before. Also, a graphical tool for Setplay definition has been developed, and used in the context of this team.