Michael Beetz Sebastian Buck Robert Hanek Thorsten Schmitt Bernd Radig The AGILO autonomous robot soccer team: computational principles, experiences, and perspectives. 805-812 2002 conf/atal/2002 AAMAS http://doi.acm.org/10.1145/544862.544933 db/conf/atal/aamas2002.html#BeetzBHSR02