Jens-Steffen Gutmann Wolfgang Hatzack Immanuel Herrmann Bernhard Nebel Frank Rittinger Augustinus Topor Thilo Weigel The CS Freiburg Team: Playing Robotic Soccer Based on an Explicit World Model. 37-46 2000 21 AI Magazine 1 db/journals/aim/aim21.html#GutmannHHNRTW00