Heiko Müller Martin Lauer Roland Hafner Sascha Lange Artur Merke Martin Riedmiller Making a Robot Learn to Play Soccer Using Reward and Punishment. 220-234 2007 conf/ki/2007 KI http://dx.doi.org/10.1007/978-3-540-74565-5_18 db/conf/ki/ki2007.html#MullerLHLMR07