Matellán, VicenteBorrajo Millán, DanielFernández, Camino2010-02-182010-02-181998RoboCup-97: Robot Soccer World Cup I, Nagoya (Japan), 1998, p. 475-4830302-9743 (Print)1611-3349 (Online)https://hdl.handle.net/10016/6929Proceeding of: Robot Soccer World Cup I, RoboCup-97, Nagoya, Japan, 1997This paper presents an architecture for the control of autonomus agents that allows explicit cooperation among them. The structure of the software agents controlling the robots is based on a general purpose multi-agent architecture based on a two level approach. One level is composed of reactive skills capable of achieving simple actions by their own. The other is based on an agenda used as an opportunistic planning mechanism to compound, activate and coordinate the basic skills. This agenda handles actions both from the internal goals of the robot or from other robots. This paper describes the work already accomplished, as well as the issues arising from the implementation of the architecture and its use in the RoboCup domain.application/pdfeng© Springerconference paper10.1007/3-540-64473-3_85open access475483RoboCup-97: Robot Soccer World Cup I