Sven Behnke Anna Egorova Alexander Gloye Raúl Rojas Mark Simon Predicting Away Robot Control Latency. 712-719 http://dx.doi.org/10.1007/978-3-540-25940-4_70 2003 conf/robocup/2003 RoboCup db/conf/robocup/robocup2003.html#BehnkeEGRS03