Kazunori Iwata Nobuhiro Ito Kuniyoshi Toda Naohiro Ishii Analysis of Agents' Cooperation in RoboCupRescue Simulation. 227-236 2008 Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing http://dx.doi.org/10.1007/978-3-540-70560-4_19 series/sci/2008-149 db/series/sci/sci149.html#IwataITI08