Ansgar Bredenfeld Vlatko Becanovic Thomas Christaller Horst Günther Giovanni Indiveri Hans-Ulrich Kobialka Paul-Gerhard Plöger Peter Schöll 648-652 2001 conf/robocup/2001 RoboCup http://dx.doi.org/10.1007/3-540-45603-1_104 db/conf/robocup/robocup2001.html#BredenfeldBCGIKPS01