Cyberoos'99: Tactical Agents in the RoboCup Simulation League. - Mikhail Prokopenko; Marc Butler; Wai Yat Wong; Thomas Howard (RoboCup, 1999)

Flexible Synchronisation within RoboCup Environment: A Comparative Analysis. - Marc Butler; Mikhail Prokopenko; Thomas Howard (RoboCup, 2000)

On Emergence of Scalable Tactical and Strategic Behavior. - Mikhail Prokopenko; Marc Butler; Thomas Howard (RoboCup, 2000)