Henry Work Eric Chown Tucker Hermans Jesse Butterfield Mark McGranaghan Player Positioning in the Four-Legged League. 391-402 2008 RoboCup http://dx.doi.org/10.1007/978-3-642-02921-9_34 conf/robocup/2008 db/conf/robocup/robocup2008.html#WorkCHBM08