The following publications are possibly variants of this publication:
- RoboCup: A Challenge Problem for AI and RoboticsHiroaki Kitano, Minoru Asada, Yasuo Kuniyoshi, Itsuki Noda, Eiichi Osawa, Hitoshi Matsubara. robocup 1998: 1-19
- The RoboCup Synthetic Agent Challenge 97Hiroaki Kitano, Milind Tambe, Peter Stone, Manuela M. Veloso, Silvia Coradeschi, Eiichi Osawa, Hitoshi Matsubara, Itsuki Noda, Minoru Asada. robocup 1998: 62-73
- SSL-Humanoid - RoboCup Soccer Using Humanoid Robots under the Global VisionTadashi Naruse, Yasuhiro Masutani, Noriaki Mitsunaga, Yasunori Nagasaka, Takashi Fujii, Masato Watanabe, Yukiko Nakagawa, Osamu Naito. robocup 2011: 60-71 [doi]