Timo Steffens Feature-Based Declarative Opponent-Modelling. 125-136 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3020&spage=125 2003 conf/robocup/2003 RoboCup db/conf/robocup/robocup2003.html#Steffens03