7 Dylla, Frank Ferrein, Alexander Lakemeyer, Gerhard Murray, Jan Obst, Oliver Röfer, Thomas Schiffer, Stefan Stolzenburg, Frieder Visser, Ubbo Wagner, Thomas 2008 Approaching a formal soccer theory from behaviour specifications in robotic soccer Dabnicki, Peter Baca, Arnold Computer in Sports WIT Press 161 - 185 978-1845640644