Masanori Yoshinaga Yukihiro Nakamura Einoshin Suzuki Mini-Car-Soccer as a testbed for granular computing. 92-97 2005 conf/grc/2005 GrC http://doi.ieeecomputersociety.org/10.1109/GRC.2005.1547241 db/conf/grc/grc2005.html#YoshinagaNS05