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Neto, G. and Lima, P. (2005) Minimax Value Iteration Applied to Robotic Soccer. Proceedings of the IEEE ICRA 2005 Workshop on Cooperative Robotics, Barcelona, 18-22 April 2005.
http://pdfs.semanticscholar.org/8bec/440961868d889d7e2011569dc9239fe3535a.pdf

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