Jinyi Yao Jiang Chen Yunpeng Cai Shi Li Architecture of TsinghuAeolus. 491-494 2001 conf/robocup/2001 RoboCup http://link.springer.de/link/service/series/0558/bibs/2377/23770491.htm db/conf/robocup/robocup2001.html#YaoCCL01