U. Düffert, M. Jüngel, T. Laue, M. Lötzsch, M. Risler, and T. Röfer. RoboCup 2002: Robot Soccer World Cup VI, 2752, page 114--124. Springer, (2003)more detailed in GermanTeam RoboCup 2002. Technical Report (178 pages,
http://www.tzi.de/kogrob/papers/GermanTeam2002.pdf).
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