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Dylla, F., A. Ferrein, G. Lakemeyer, J. Murray, O. Obst, T. R\'f6fer, S. Schiffer, F. Stolzenburg, U. Visser, and T. Wagner,  "Approaching a formal soccer theory from behaviour specifications in robotic soccer",  \i Computer in Sports\i0 : WIT Press, pp. 161 - 185, 2008.\par \par }