Minoru Asada Peter Stone Hiroaki Kitano Barry Brian Werger Yasuo Kuniyoshi Alexis Drogoul Dominique Duhaut Manuela M. Veloso Hajime Asama Sho'ji Suzuki The Robocup Physical Agent Challenge: Phase I. 251-263 1998 12 Applied Artificial Intelligence 2-3 http://taylorandfrancis.metapress.com/openurl.asp?genre=article&issn=0883-9514&volume=12&issue=2&spage=251 db/journals/aai/aai12.html#AsadaSKWKDDVAS98