This paper presents extensions and improvements of previous work, where we defined a CBR system for action selection in the robot soccer domain. We show empirical results obtained with real robots, comparing our team playing approach with an individualist approach. Source URL: https://www.iiia.csic.es/en/node/55378 Links [1] https://www.iiia.csic.es/en/staff/raquel-ros [2] https://www.iiia.csic.es/en/staff/ramon-l%C3%B3pez-de-m%C3%A1ntaras [3] https://www.iiia.csic.es/en/staff/josep-lluis-arcos [4] https://www.iiia.csic.es/en/staff/manuela-veloso [5] https://www.iiia.csic.es/en/bibliography?f[author]=1121 [6] https://www.iiia.csic.es/en/bibliography?f[author]=1122