Luca Iocchi Hitoshi Matsubara Alfredo Weitzenfeld Changjiu Zhou RoboCup 2008: Robot Soccer World Cup XII [papers from the 12th annual RoboCup International Symposium, Suzhou, China, July 15-18, 2008] 5399 2009 http://dx.doi.org/10.1007/978-3-642-02921-9 978-3-642-02920-2 RoboCup Lecture Notes in Computer Science Springer db/conf/robocup/robocup2008.html