Norbert Michael Mayer Joschka Boedecker Kazuhiro Masui Masaki Ogino Minoru Asada HMDP: A New Protocol for Motion Pattern Generation Towards Behavior Abstraction. 184-195 2007 RoboCup http://dx.doi.org/10.1007/978-3-540-68847-1_16 conf/robocup/2007 db/conf/robocup/robocup2007.html#MayerBMOA07