Kate Clarke Stephen Dempster Ian Falcao Bronwen Jones Daniel Rudolph Alan Blair Chris McCarthy Dariusz Walter Nick Barnes 713-716 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770713.htm db/conf/robocup/robocup2001.html#ClarkeDFJRBMWB01