In: Sven Behnke; Manuela Veloso; Arnoud Visser; Rong Xiong (Hrsg.). RoboCup 2013: Robot World Cup XVII. RoboCup International Symposium (RoboCup-2013), June 24 - July 1, Eindhoven, Netherlands, Pages 25-36, Lecture Notes in Artificial Intelligence (LNAI), Vol. 8371, Springer, 2014.