Masayuki Ohta Tetsuhiko Koto Ikuo Takeuchi Tomoichi Takahashi Hiroaki Kitano Design and Implementation of the Kernel and Agents for the RoboCup-Rescue. 423-424 2000 conf/icmas/2000 ICMAS http://doi.ieeecomputersociety.org/10.1109/ICMAS.2000.858506 db/conf/icmas/icmas2000.html#OhtaKTTK00