  The study of the collaboration, coordination and negotiation among different
agents in a multi-agent system (MAS) has always been the most challenging yet
popular in the research of distributed artificial intelligence. In this paper,
we will suggest for RoboCup simulation, a typical MAS, a general
decision-making model, rather than define a different algorithm for each tactic
(e.g. ball handling, pass, shoot and interception, etc.) in soccer games as
most RoboCup simulation teams did. The general decision-making model is based
on two critical factors in soccer games: the vertical distance to the goal line
and the visual angle for the goalpost. We have used these two parameters to
formalize the defensive and offensive decisions in RoboCup simulation and the
results mentioned above had been applied in NOVAURO, original name is UJDB, a
RoboCup simulation team of Jiangsu University, whose decision-making model,
compared with that of Tsinghua University, the world champion team in 2001, is
a universal model and easier to be implemented.
