The following publications are possibly variants of this publication:
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- Evaluation of Situations in RoboCup 2D Simulations Using Soccer Field ImagesTanguy Pomas, Tomoharu Nakashima. robocup 2019: 275-286 [doi]
- HELIOS2023: RoboCup 2023 Soccer Simulation 2D Competition ChampionHidehisa Akiyama, Tomoharu Nakashima, Kyo Hatakeyama, Takumi Fujikawa, Akei Hishiki. robocup 2024: 386-394 [doi]
- HELIOS2012: RoboCup 2012 Soccer Simulation 2D League ChampionHidehisa Akiyama, Tomoharu Nakashima. robocup 2013: 13-19 [doi]
- HELIOS2018: RoboCup 2018 Soccer Simulation 2D League ChampionHidehisa Akiyama, Tomoharu Nakashima, Takuya Fukushima, Jiarun Zhong, Yudai Suzuki, An Ohori. robocup 2019: 450-461 [doi]
- HELIOS Base: An Open Source Package for the RoboCup Soccer 2D SimulationHidehisa Akiyama, Tomoharu Nakashima. robocup 2014: 528-535 [doi]
- HELIOS2022: RoboCup 2022 Soccer Simulation 2D Competition ChampionHidehisa Akiyama, Tomoharu Nakashima, Kyo Hatakeyama, Takumi Fujikawa. robocup 2023: 253-263 [doi]