Koshi Asano Kazuhito Murakami Tadashi Naruse Detection of Basic Behaviors in Logged Data in RoboCup Small Size League. 439-450 2008 RoboCup http://dx.doi.org/10.1007/978-3-642-02921-9_38 conf/robocup/2008 db/conf/robocup/robocup2008.html#AsanoMN08