Paul Carpenter Patrick Riley Gal A. Kaminka Manuela M. Veloso Ignacio Thayer Robert Wang ChaMeleons-01 Team Description. 503-506 2001 conf/robocup/2001 RoboCup http://dx.doi.org/10.1007/3-540-45603-1_69 db/conf/robocup/robocup2001.html#CarpenterRKVTW01