Manuela M. Veloso Tucker R. Balch Peter Stone Hiroaki Kitano Fuminori Yamasaki Ken Endo Minoru Asada Mansour Jamzad Sayyed Bashir Sadjad Vahab S. Mirrokni Moslem Kazemi Hamid Reza Chitsaz Abbas Heydarnoori Mohammad Taghi Hajiaghayi Ehsan Chiniforooshan RoboCup-2001: The Fifth Robotic Soccer World Championships. 55-68 2002 23 AI Magazine 1 db/journals/aim/aim23.html#VelosoBSKYEAJSMKCHHC02