Norbert Michael Mayer Joschka Boedecker Rodrigo da Silva Guerra Oliver Obst Minoru Asada 3D2Real: Simulation League Finals in Real Robots. 25-34 2006 conf/robocup/2006 RoboCup http://dx.doi.org/10.1007/978-3-540-74024-7_3 db/conf/robocup/robocup2006.html#MayerBGOA06