Michael Beetz Thorsten Schmitt Robert Hanek Sebastian Buck Freek Stulp Derik Schröter Bernd Radig The AGILO Robot Soccer Team-Experience-Based Learning and Probabilistic Reasoning in Autonomous Robot Control. 55-77 2004 17 Auton. Robots 1 http://www.springerlink.com/index/10.1023/B:AURO.0000032938.72058.61 db/journals/arobots/arobots17.html#BeetzSHBSSR04