Jan Wendler Markus Hannebauer Hans-Dieter Burkhard Helmut Myritz Gerd Sander Thomas Meinert BDI Design Principles and Cooperative Implementation in RoboCup. 531-541 1999 conf/robocup/1999 RoboCup db/conf/robocup/robocup1999.html#WendlerHBMSM99