Jinyi Yao Lao Ni Fan Yang Yunpeng Cai Zengqi Sun Technical Solutions of TsinghuAeolus for Robotic Soccer. 205-213 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3020&spage=205 2003 conf/robocup/2003 RoboCup db/conf/robocup/robocup2003.html#YaoNYCS03