In WrightEagle2009, we continue to research based on the previous WrightEagle 2D soccer simulation team. WrightEagle has won the runner-up of RoboCup 2008 and Robocup 2007, the Champion of RoboCup 2006, and the runner-up of RoboCup 2005. In this paper, we mainly present the team structure of our new team WE2009, and the new techniques since the last competitions.

In WrightEagle2008, we continue to research based on the previous WrightEagle simulation 2D team. WrightEagle has won the runner-up of Robocup2007, the Champion of RoboCup2006, and the runner-up of RoboCup2005, as well as three consecutive championships of RoboCup China Open in recent years. In this paper, we present the innovations of our team since the last simulation league competitions, and related previous work that developed by other simulated RoboCup teams and ourself.