Kentarou Noma Yasutake Takahashi Minoru Asada Cooperative/Competitive Behavior Acquisition Based on State Value Estimation of Others. 101-112 2007 RoboCup http://dx.doi.org/10.1007/978-3-540-68847-1_9 conf/robocup/2007 db/conf/robocup/robocup2007.html#NomaTA07