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Dylla, F., A. Ferrein, G. Lakemeyer, J. Murray, O. Obst, T. R\'f6fer, F. Stolzenburg, and U. Visser,  "Towards a League-Independent Qualitative Soccer Theory for RoboCup",  \i RoboCup 2004: Robot Soccer World Cup VIII\i0 , vol. 3276: Springer, pp. 611-618, 2005.\par \par }