Hans-Dieter Burkhard Matthias Werner Michael Ritzschke Frank Winkler Jan Wendler Andrej Georgi Uwe Düffert Helmut Myritz Humboldt Hereos in RoboCup-99. 770-773 1999 conf/robocup/1999 RoboCup db/conf/robocup/robocup1999.html#BurkhardWRWWGDM99