Kenichi Yoshimura Nick Barnes Ralph Rönnquist Liz Sonenberg Towards Real-Time Strategic Teamwork: A RoboCup Case Study. 342-350 http://dx.doi.org/10.1007/978-3-540-45135-8_29 2002 conf/robocup/2002 RoboCup db/conf/robocup/robocup2002.html#YoshimuraBRS02