Georgios Kontes Michail G. Lagoudakis Coordinated Team Play in the Four-Legged RoboCup League. 109-116 2007 conf/ictai/2007-1 ICTAI (1) http://doi.ieeecomputersociety.org/10.1109/ICTAI.2007.80 db/conf/ictai/ictai2007-1.html#KontesL07