Hiroaki Kitano Milind Tambe Peter Stone Manuela M. Veloso Silvia Coradeschi Eiichi Osawa Hitoshi Matsubara Itsuki Noda Minoru Asada The RoboCup Synthetic Agent Challenge 97. 24-30 1997 IJCAI (1) db/conf/ijcai/ijcai97.html#KitanoTSVCOMNA97