Enrico Pagello Emanuele Menegatti Ansgar Bredenfeld Paulo Costa Thomas Christaller Adam Jacoff Daniel Polani Martin Riedmiller Alessandro Saffiotti Elizabeth Sklar Takashi Tomoichi RoboCup-2003: New Scientific and Technical Advances. 81-98 2004 25 AI Magazine 2 db/journals/aim/aim25.html#PagelloMBCCJPRSST04 http://www.aaai.org/ojs/index.php/aimagazine/article/view/1762