Yes and no. Each player, once assigned a position, plays according to the strategy programmed for that specific position. For example, the goalie “knows” to block the ball while the striker “knows” to take shots on goal. However, because the robots are homogeneous and are controlled by a central computer, which tells them which position to play, the players can be interchanged (like substitute players) and can function as any role on the team. For more reference, see the Cornell Robocup Team web site at: http://robocup.mae.cornell.edu/