Dirk Voelz Elisabeth André Gerd Herzog Thomas Rist Rocco: A RoboCup Soccer Commentator System. 50-60 http://link.springer.de/link/service/series/0558/bibs/1604/16040050.htm 1998 conf/robocup/1998 RoboCup db/conf/robocup/robocup1998.html#VoelzAHR98