Ryuichi Ueda Kohei Sakamoto Kazutaka Takeshita Tamio Arai Dynamic Programming for Creating Cooperative Behavior of Two Soccer Robots - Part 1: Computation of State-Action Map. 1-7 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363756 db/conf/icra/icra2007.html#UedaSTA07