Tim Laue Thomas Röfer Integrating Simple Unreliable Perceptions for Accurate Robot Modeling in the Four-Legged League. 474-482 2006 conf/robocup/2006 RoboCup http://dx.doi.org/10.1007/978-3-540-74024-7_48 db/conf/robocup/robocup2006.html#LaueR06