UBU: Utility-Based Uncertainty Handling in Synthetic Soccer. - Magnus Boman; Helena Åberg; Åsa Åhman; Jens Andreasen; Mats Danielson; Carl-Gustaf Jansson; Johan Kummeneje; Harko Verhagen; Johan Walter (RoboCup, 1998)

Conflict-based Force Aggregation - John Cantwell; Johan Schubert; Johan Walter (CoRR, 2003)