Gutmann, J.-S., Hatzack, W., Herrmann, I., Nebel, B., Rittinger, F., Topor, A. and Weigel, T. (2000) “The CS Freiburg Team: Playing Robotic Soccer Based on an Explicit World Model”, AI Magazine, 21(1), p. 37. doi: 10.1609/aimag.v21i1.1493.