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    In G. Lakemeyer, E. Sklar, D. Sorrenti and T. Takahashi, editors, RoboCup 2006: Robot Soccer World Cup X, LNCS (CD Supplement), Bremen, Germany. Springer, 2006.
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    In A. Bredenfeld, A. Jacoff, I. Noda and Y. Takahashi, editors, RoboCup 2005: Robot Soccer World Cup IX, LNCS (CD Supplement), Osaka, Japan. Springer, 2005.
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    In SEKT (EU-IST Integrated Project) Collection of Deliverables, Technical Report, Karlsruhe Institute of Technology, Karlsruhe, Germany.  2004.
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