Takeshi Morimoto Kenji Kono Ikuo Takeuchi YabAI: The First Rescue Simulation League Champion. 49-59 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770049.htm db/conf/robocup/robocup2001.html#MorimotoKT01