The RoboCup Soccer Simulation 2D Competition is the old-
est of the RoboCup competitions. The 2D soccer simulator enables
two teams of simulated autonomous agents to play a game of soccer
with realistic rules and sophisticated game play. This paper introduces
the RoboCup 2022 Soccer Simulation 2D Competition champion team,
HELIOS2022, a united team from Okayama University of Science and
Osaka Metropolitan University. The overview of the team’s two recent
approaches is also described. The first one is the method of online search
of cooperative behavior for the setplay planning. The second is a perfor-
mance evaluation system for efficient team development.
