Fredrik Heintz Johan Kummeneje Paul Scerri Using Simulated RoboCup in Undergraduate Education. 309-314 http://link.springer.de/link/service/series/0558/bibs/2019/20190309.htm 2000 conf/robocup/2000 RoboCup db/conf/robocup/robocup2000.html#HeintzKS00