Michael A. Greenspan Joseph Lam Marc Godard Imran Zaidi Sam Jordan Will Leckie Ken Anderson Donna C. Dupuis Toward a Competitive Pool-Playing Robot. 46-53 2008 41 IEEE Computer 1 http://doi.ieeecomputersociety.org/10.1109/MC.2008.33 db/journals/computer/computer41.html#GreenspanLGZJLAD08