  Fractals2019 started as a new experimental entry in the RoboCup Soccer 2D
Simulation League, based on Gliders2d code base, and advanced to become a
RoboCup-2019 champion. We employ combinatorial optimisation methods, within the
framework of Guided Self-Organisation, with the search guided by local
constraints. We present examples of several tactical tasks based on the
Gliders2d code (version v2), including the search for an optimal assignment of
heterogeneous player types, as well as blocking behaviours, offside trap, and
attacking formations. We propose a new method, Dynamic Constraint Annealing,
for solving dynamic constraint satisfaction problems, and apply it to optimise
thermodynamic potential of collective behaviours, under dynamically induced
constraints.
