Hans Lausen Jakob Nielsen Michael Nielsen Pedro U. Lima Model and Behavior-Based Robotic Goalkeeper. 169-180 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3020&spage=169 2003 conf/robocup/2003 RoboCup db/conf/robocup/robocup2003.html#LausenNNL03