Manuela M. Veloso Hiroaki Kitano Enrico Pagello Gerhard K. Kraetzschmar Peter Stone Tucker R. Balch Minoru Asada Silvia Coradeschi Lars Karlsson Masahiro Fujita Overview of RoboCup-99. 1-34 1999 conf/robocup/1999 RoboCup db/conf/robocup/robocup1999.html#VelosoKPKSBACKF99