@article{FerreinBeckLakemeyer2011,
  author    = {Alexander Ferrein and Daniel Beck and Gerhard Lakemeyer},
  title     = {A Simulation Environment for Middle-Size Robots with Multi-level Abstraction / Beck, Daniel ; Ferrein, Alexander ; Lakemeyer, Gerhard},
  journal   = {RoboCup 2007: Robot Soccer World Cup XI},
  pages     = {136 -- 147},
  year      = {2011},
}