The economic game theory used presumes that the interaction between penalty kicker and goalkeeper is a simultaneous game. It is not. It is close but the decisions are not made simultaneous. To illustrate examine the penalties in this video brought to my attention by Robbie Butler. Below is an image from the video. The goalkeeper has obviously begun the process of diving to his right (to the left as we look) before the ball is kicked. The ball is being kicked after the keeper has started his dive. The dive and the kick are not simultaneous. The decision about which side to kick the ball does not have the uncertainty presumed in deriving the minimax solution.
Palacios-Huerta understands the difference between simultaneous and sequencial games. He famously advised the Chelsea goalkeeper not to dive early when facing Ronaldo in the 2008 Champions League Final. Ronaldo did not score.
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