Magnus Boman Helena Åberg Åsa Åhman Jens Andreasen Mats Danielson Carl Gustaf Jansson Johan Kummeneje Harko Verhagen Johan Walter UBU: Utility-Based Uncertainty Handling in Synthetic Soccer. 352-357 http://link.springer.de/link/service/series/0558/bibs/1604/16040352.htm 1998 conf/robocup/1998 RoboCup db/conf/robocup/robocup1998.html#BomanAAADJKVW98