@article{FerreinDyllaLakemeyeretal.2011,
  author    = {Alexander Ferrein and Frank Dylla and Gerhard Lakemeyer and Jan Murray},
  title     = {Towards a League-Independent Qualitative Soccer Theory for RoboCup / Dylla, Frank ; Ferrein, Alexander ; Lakemeyer, Gerhard ; Murray, Jan ; Obst, Oliver ; R{\"o}fer, Thomas ; Stolzenburg, Frieder ; Visser, Ubbo},
  journal   = {RoboCup 2004: Robot Soccer World Cup VIII / Daniele Nardi ... (ed.).},
  pages     = {611 -- 618},
  year      = {2011},
}