Brian P. Gerkey, Maja J. Mataric. On Role Allocation in RoboCup. In Daniel Polani, Brett Browning, Andrea Bonarini, Kazuo Yoshida, editors, RoboCup 2003: Robot Soccer World Cup VII. Volume 3020 of Lecture Notes in Computer Science, pages 43-53, Springer, 2003. [doi]
Abstract is missing.