Behavior Engineering with "Dual Dynamics" Models and Design Tools.
Ansgar BredenfeldThomas ChristallerWolf GöhringHorst GüntherHerbert JaegerHans-Ulrich KobialkaPaul-Gerhard PlögerPeter SchöllAndrea SiegbergArend StreitChristian VerbeekJörg WilbergPublished in: RoboCup (1999)