Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team. Lau, N., Lopes, L. S., Filipe, N., & Corrente, G. A. In Lopes, L. S., Lau, N., Mariano, P., & Rocha, L. M., editors, EPIA, volume 5816, of Lecture Notes in Computer Science, pages 323-337, 2009. Springer.
Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team. [link]Link  Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team. [link]Paper  bibtex   
@inproceedings{conf/epia/LauLFC09,
  added-at = {2019-06-02T00:00:00.000+0200},
  author = {Lau, Nuno and Lopes, Luís Seabra and Filipe, Nelson and Corrente, Gustavo A.},
  biburl = {https://www.bibsonomy.org/bibtex/293cd380c1b7f5e88a2f2a786fa85be5d/dblp},
  booktitle = {EPIA},
  crossref = {conf/epia/2009},
  editor = {Lopes, Luís Seabra and Lau, Nuno and Mariano, Pedro and Rocha, Luis Mateus},
  ee = {https://www.wikidata.org/entity/Q62727990},
  interhash = {adf4730aa5bd677525168fa83abb9e15},
  intrahash = {93cd380c1b7f5e88a2f2a786fa85be5d},
  isbn = {978-3-642-04685-8},
  keywords = {dblp},
  pages = {323-337},
  publisher = {Springer},
  series = {Lecture Notes in Computer Science},
  timestamp = {2019-06-04T14:22:34.000+0200},
  title = {Roles, Positionings and Set Plays to Coordinate a RoboCup MSL Team.},
  url = {http://dblp.uni-trier.de/db/conf/epia/epia2009.html#LauLFC09},
  volume = 5816,
  year = 2009
}

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