The CS Freiburg Robotic Soccer Team: Reliable Self-Localization, Multirobot Sensor Integration, and Basic Soccer Skills. - Jens-Steffen Gutmann; Wolfgang Hatzack; Immanuel Herrmann; Bernhard Nebel; Frank Rittinger; Augustinus Topor; Thilo Weigel; Bruno Welsch (RoboCup, 1998)