In the specific case of Robocup soccer simulation,the interaction between the soccer playing agents and the simulated environment is executed one step at a time, in a discrete and synchronized way: at each iteration, the agent receives local information about the environment in its vicinity by a set of simulated sensors (for example the positions of players, ball and relevant markers of the world that are in its field of vision, auditory messages from teammates in its vicinity, commands from the automated referee).