This paper presents a new algorithm for real time event detection using Finite State Machines with multiple Fuzzy Logic\r\nProbability Evaluators (FLPEs). A machine referee for a robot soccer game is developed and is used as the platform to test the\r\nproposed algorithm. A novel technique to detect collisions and other events in microrobot soccer game under inaccurate and\r\ninsufficient information is presented. The robots� collision is used to determine goalkeeper charging and goal score events which\r\nare crucial for the machine referee�s decisions. TheMain StateMachine (MSM) handles the schedule of event activation. The FLPE\r\ncalculates the probabilities of the true occurrence of the events. Final decisions about the occurrences of events are evaluated and\r\ncompared through threshold crisp probability values. The outputs of FLPEs can be combined to calculate the probability of an\r\nevent composed of subevents. Using multiple fuzzy logic system, the FLPE utilizes minimal number of rules and can be tuned\r\nindividually. Experimental results show the accuracy and robustness of the proposed algorithm.
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