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@incollection{LNAI09-kalyanakrishnan-2,
  author = "Shivaram Kalyanakrishnan and Todd Hester and Michael Quinlan and Yinon Bentor and Peter Stone",
  title = "Three Humanoid Soccer Platforms: Comparison and Synthesis",
  booktitle = "Proceedings of the {R}obo{C}up International Symposium 2009",
  Publisher="Springer Verlag",
  year = "2009",
  abstract = {
    In this article, we provide an overview of three humanoid soccer
    platforms currently in use at RoboCup: 3D simulation, the humanoid
    Standard Platform League (SPL), and the Webots-based simulator released
    with the SPL.  Although these platforms trace different historical
    roots, today they share the same robot model, the Aldebaran Nao.
    Consequently, they face a similar set of challenges, primary among
    which is the need to develop reliable and robust bipedal locomotion. In
    this paper, we compare and contrast these platforms, drawing on the
    experiences of our team, UT Austin Villa, in developing agents for each
    of them.  We identify specific roles for these three platforms in
    advancing the overarching goals of RoboCup.
  },
}