Michael Beetz Andreas Hofhauser Plan-Based Control for Autonomous Soccer Robots (Preliminary Report). 21-35 2001 conf/dagstuhl/2001robagents Advances in Plan-Based Control of Robotic Agents http://link.springer.de/link/service/series/0558/bibs/2466/24660021.htm db/conf/dagstuhl/robagents2001.html#BeetzH01