@book {DFL+2008Approaching,
        title = {Approaching a formal soccer theory from behaviour specifications in robotic soccer},
        series = {Computer in Sports},
        year = {2008},
        pages = {161--185},
        publisher = {WIT Press},
        organization = {WIT Press},
        isbn = {978-1845640644},
        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/dfl+2008approaching.pdf},
        author = {Dylla, Frank and Ferrein, Alexander and Lakemeyer, Gerhard and Murray, Jan and Obst, Oliver and R{\"o}fer, Thomas and Schiffer, Stefan and Stolzenburg, Frieder and Visser, Ubbo and Wagner, Thomas},
        editor = {Dabnicki, Peter and Baca, Arnold}
}

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