The world model is a database of current game situations, player locations and orientation, ball location, opponent location, etc., updated with information gathered by the tracker/image processing system. Information contained in the world model is accessible by the local planner (located on each robot) and the global planner (located on the sidelined manager server). The function of the global planner is to use the current game situation to determine a next course of action. The function of the local planner is to determine the path the robot will take to execute the course of action determined by the global planner.