Using Reactive Deliberation for Real-Time Control of Soccer-Playing Robots. - Yu Zhang 309; Alan K. Mackworth (RoboCup, 1997)

A constraint-based controller for soccer-playing robots. - Yu Zhang 309; Alan K. Mackworth (IROS, 1998)

A Multi-Level Constraint-Based Controller for the Dynamo98 Robot Soccer Team. - Yu Zhang 309; Alan K. Mackworth (RoboCup, 1998)

A Constraint-Based Robotic Soccer Team. - Yu Zhang 309; Alan K. Mackworth (Constraints An Int. J., 2002)