@article{NiemuellerFerreinLakemeyer2011,
  author    = {Tim Niem{\"u}ller and Alexander Ferrein and Gerhard Lakemeyer},
  title     = {A Lua-based behavior engine for controlling the humanoid robot Nao},
  journal   = {RoboCup 2009: Robot Soccer World Cup XIII},
  pages     = {240 -- 251},
  doi       = {10.1007/978-3-642-11876-0_21},
  year      = {2011},
}