The Fuzzy Petri net model (FPN) can provide the fundamental basis for a wide variety of algorithms, including autonomous soccer robots. Contemporary research has been investigating the potential uses for FPN for decades, most commonly applying its flexible reasoning abilities and graphical representation for automating decisions. The integration of Petri nets with fuzzy logic offers countless possibilities for knowledge representation and analysis. Fuzzy logic is proposed as the programming logic of choice for modeling a soccer playing robot algorithm due to its versatile multi-valued logic reasoning. By using FPNs, it is possible to simulate, assess, and communicate the process and reasoning of the soccer algorithm and apply it to real world programming. In this paper, we propose the Soccer Playing Allies Referencing Tract and Coordinate Underlay System (SPARTaCUS) algorithm in order to optimize the sequence of actions of a team of robots to complete the given task. As a result of modeling and simulation, the proposed algorithm has outperformed non-systematic methods by 11%.