Itsuki Noda Tomoichi Takahashi Shuji Morita Tetsuhiko Koto Satoshi Tadokoro Language Design for Rescue Agents. 164-172 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770164.htm db/conf/robocup/robocup2001.html#NodaTMKT01