Hi, just some progress to show.

** NEW MOVEMENT AND GRAVITY SYSTEM

The movement and gravity code now permits effective steering behaviors integration. The system now calculates the desired velocity needed in order to the AI controlled bots reach their targets;

** SIMPLE COLLISION AVOIDANCE

You can see this video: Simple Collision Avoidance

** STRATEGIC POSITIONING

A region based strategic positioning dependant on ball´s position
You can see this video: Strategic Positioning

** NEW PASSING ALGORITHM

Now its implemented a passing algorithm based in a weighting system that calculates two things:

1 - the best passing entity

2 - the best entity passing target position

Example:

T: all visible teamates position
O: all visible opponents position
B: the entity who has the ball
G: opponent´s goal location

W1 = vec_dist(T,G) // min distance is better
W2 = vec_dist(T,B) // min distance is better
W3 = vec_dist(T,closest(O)) // max distance is better

There are 8 possible target positions for the pass and the red dummy indicates the best passing target for the entity which is in better conditions to receive a pass.

You can see this video: Passing Algo

EDIT:

** GAME PLAY

You can see this video: n´droid soccer gameplay

Well, as always comments, critics and sugestions to help improve the system are welcome.
Cheers