@InProceedings{Kalyanakrishnan+LS:2007,
  author =       "Kalyanakrishnan, Shivaram and Liu, Yaxin and Stone, Peter",
  title =        "Half Field Offense in RoboCup Soccer: A Multiagent Reinforcement Learning Case Study",
  booktitle =    "{R}obo{C}up 2006: Robot Soccer World Cup {X}",
  year =         "2007",
  ISBN =         "978-3-540-74023-0",
  editor =    "Lakemeyer, Gerhard and Sklar, Elizabeth and Sorrenti, Domenico G. and Takahashi, Tomoichi",
  volume =    "4434",
  series =    "Lecture Notes in Computer Science",
  publisher = "Springer",
  pages =     "72--85",
}