FC Portugal 3D Simulation Team: Team Description Paper Luís Paulo Reis 1,3 , Nuno Lau 2,4 , Luís Rei 1 , Nima Shafii 1,3,4 , Bruno Pimentel 1,4 lpreis@fe.up.pt, nunolau@ua.pt, luis.rei@gmail.com, nima.shafii@gmail.com, brunopimentel@ua.pt 1 DEI/FEUP – Informatics Engineering Department, Faculty of Engineering, Univ. of Porto, Portugal 2 DETI/UA – Electronics, Telecommunications and Informatics Dep., University of Aveiro, Portugal 3 LIACC – Artificial Intelligence and Computer Science Lab., University of Porto, Portugal 4 IEETA – Institute of Electronics and Telematics Engineering of Aveiro, Portugal http://www.ieeta.pt/robocup/ Abstract. FC Portugal 3D team is built upon the structure of our previous Simulation league 3D teams. Our research is mainly focused on the adaptation of previously developed methodologies from our 2D soccer teams [1, 2, 3, 4, 5] to the 3D humanoid environment and on creating new coordination methodologies. In our 2D teams, which participate in RoboCup since 2000, we have introduced several concepts and algorithms covering a broad spectrum of the robotic soccer research challenges. From coordination techniques such as Tactics, Formations, Dynamic Positioning and Role Exchange, Situation Based Strategic Positioning and Intelligent Perception to Optimization based low-level skills, Visual Debugging and Coaching, the number of research aspects FC Portugal has been working on is quite extensive [1, 2, 3, 4, 5]. The research-oriented development of our team has been pushing it to be one of the most competitive (World champion in 2000 and Coach Champion in 2002, European champion in 2000 and 2001, Coach 2nd place in 2003 and 2004, European champion in Rescue Simulation and Simulation 3D in 2006, World Champion in Simulation 3D in 2006 and European champion in 2007). This paper describes the main innovations of our 3D simulation league team relating them with previous work. New skills have been developed for the simulated humanoid agent which include optimized getup front and getup back behaviors, Truncated Fourier Series based walk and a powerful front kick. The paper also includes information related to the agent architecture and low-level considerations. The current research is focused on improving these skills by developing a generic skills optimization framework, building robust mid- level skills and integrating high-level coordination mechanisms. Very good results were already achieved, in 2011, concerning the optimization of low-level skills. 1. Introduction FC Portugal was built upon the low-level skills research conducted during previous years. Although there is still space for improvement in FC Portugal low-level skills, we feel that we currently have a very performing set of these skills. We are currently focused on the high-level decision and cooperation mechanisms of our agents. The skills have been developed using several different techniques (hill climbing, genetic algorithms, population swarm optimization). For RoboCup 3D soccer simulation competition that was based on spheres (from 2004 to 2006), the decisive factor (like in the 2D competition) was the high-level