David Ball Gordon Wyeth Multi-robot Control in Highly Dynamic, Competitive Environments. 385-396 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3020&spage=385 2003 conf/robocup/2003 RoboCup db/conf/robocup/robocup2003.html#BallW03