Ian Frank Kumiko Tanaka-Ishii Hitoshi Matsubara Eiichi Osawa Walkie-Talkie MIKE. 343-349 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770343.htm db/conf/robocup/robocup2001.html#FrankTMO01