Roboskeleton: An Architecture for Coordinating Robot Soccer Agents. Camacho, D., Fernández, F., & Rodelgo, M. Á. Engineering Applications of Artificial Intelligence, 19(2):179-188, 2006.
bibtex   
@article{camacho05,

  author = {David Camacho and Fernando Fernández and Miguel \'Angel Rodelgo},

  title = {Roboskeleton: An Architecture for Coordinating Robot Soccer Agents},

  key = {Multi-Agent Learning},

  journal = {Engineering Applications of Artificial Intelligence},

  volume = {19},

  number = {2},

  pages = {179-188},

  cicyt = {revista},

  year = {2006}

}
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