@article{FerreinDyllaLakemeyeretal.2011,
  author    = {Alexander Ferrein and Frank Dylla and Gerhard Lakemeyer and Jan Murray},
  title     = {Approaching a formal soccer theory from behaviour specifications in robotic soccer / Dylla, Frank ; Ferrein, Alexander ; Lakemeyer, Gerhard ; Murray, Jan ; Obst, Oliver ; R{\"o}fer, Thomas ; Schiffer, Stefan ; Stolzenburg, Frieder ; Visser, Ubbo ; Wagner, Tho},
  journal   = {Computers in sport / editors: P Dabnichki},
  pages     = {161 -- 185},
  year      = {2011},
}