Paper  bibtex   

@Article{ Ferrein2005Using.pdf_200506061855,
  author    = {Alexander Ferrein and
               Christian Fritz and
               Gerhard Lakemeyer},
  title     = {Using Golog for Deliberation and Team Coordination in Robotic
               Soccer},
  journal   = {KI},
  volume    = {19},
  number    = {1},
  year      = {2005},
  urlPaper= {200506061855_Ferrein2005Using.pdf},
  pages     = {24-31},
  keywords = {Golog, RoboCup}
}