The second chapter makes research on the derivation and characters of adversarial problem, gives it a general definition, and describes the prospect of it.
第二章分析了对抗性问题的来源和一些基本特点，并据此给出了该类问题的一般性定义和实际工作中的应用前景。
Soccer robot system is a dynamic, uncertain and real-time platform, and in such an adversarial and competitive environment, how to realize the real-time robot path-planning is a challenge problem.
机器人足球系统环境是一个具有动态性、不确定性、实时性的环境，在这样一个具有高度实时性和竞争性平台上研究路径规划也是一个很有挑战性的课题。
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