K. Endo, F. Yamasaki, T. Maeno, and H. Kitano. RoboCup 2002: Robot Soccer World Cup VI, volume 2752 of Lecture Notes in Artificial Intelligence, page 327--341. Springer-Verlag, (2002)
V. Valsalam, and R. Miikkulainen. Proceedings of the Genetic and Evolutionary Computation Conference GECCO 2008, page 265-272. New York, NY, USA, ACM, (2008)