The annual Robocup soccer competition is an excellent opportunity for our robotics and agent research. We view the competition as a rigorous testbed for our methods and a unique way of validating our ideas. After two years of competition; we have begun to understand what works (we won the competition in Tokyo 97) and what does not work (we failed to advance to the second round in Paris 98). This year; we continue to make improvements in hardware and software; including a wireless communication network and improved soccer playing behaviors. This paper presents an overview of our goals in Robocup; our philosophy in building soccer playing robots and the methods we are employing in our efforts.