Pablo Guerrero Javier Ruiz-del-Solar Gonzalo Díaz Probabilistic Decision Making in Robot Soccer. 29-40 2007 RoboCup http://dx.doi.org/10.1007/978-3-540-68847-1_3 conf/robocup/2007 db/conf/robocup/robocup2007.html#GuerreroRD07