Martin A. Riedmiller Sebastian Buck Artur Merke R. Ehrmann Ortwin Thate S. Dilger Alex Sinner Andreas Hoffmann Lutz Frommberger Karlsruhe Brainstormers - Design Principles. 588-591 1999 conf/robocup/1999 RoboCup db/conf/robocup/robocup1999.html#RiedmillerBMETDSHF99