RoboCup 2000 (F180) Team Description: UPMC-CFA Team (France). - Jerome Douret; Thierry Dorval; Ryad Benosman; Francis Bras; Gael Surtet; Thomas Petit; Nadege Quedec; Denis Philip; Gilles Cordurié; Mario Rebello; Didier Abraham; Nicolas Couder; et al. (RoboCup, 2000)