Thilo Weigel Alexander Kleiner Florian Diesch Markus Dietl Jens-Steffen Gutmann Bernhard Nebel Patrick Stiegeler Boris Szerbakowski CS Freiburg 2001. 26-38 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770026.htm db/conf/robocup/robocup2001.html#WeigelKDDGNSS01