Jacky Baltes, Michail G. Lagoudakis, Tadashi Naruse, Saeed Shiry Ghidary: RoboCup 2009: Robot Soccer World Cup XIII [papers from the 13th annual RoboCup International Symposium, Graz, Austria, June 29 - July 5, 2009]. Lecture Notes in Computer Science 5949, Springer 2010, ISBN 978-3-642-11875-3