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The RoboCup Simulator League competition is a very interesting laboratory for open cognitive multi-agent systems. It presents an environment where two robot teams play soccer with all the challenges that this task brings-up. In this environment each player has its own vision system there is no single agent that has a global view of the field. Another restriction is that a very narrow communication band-width is allowed to inter-agent communication. The UFSC-Team adopts a cognitive multi-agent approach where most part of the cooperation process is based on visual information and where the exchanged messages are just used to decide the role each agent should play in a predefined strategy.