Mahdi Asadpour Mansour Jamzad A Realistic Simulation Testbed for Studying Game Playing in Robotic Soccer. 105-113 2005 conf/soas/2005 SOAS http://www.booksonline.iospress.nl/Content/View.aspx?piid=804 db/conf/soas/soas2005.html#AsadpourJ05