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@article(RAS99,
        Author="Manuela Veloso and Peter Stone and Kwun Han",
        Title="The {CMU}nited-97 Robotic Soccer Team:  Perception and Multi-agent Control",
        journal="Robotics and Autonomous Systems",
        year="2000",month="November",
        volume="29",number="2-3",pages="133--143",
        abstract={
                  Robotic soccer is a challenging research domain
                  which involves multiple agents that need to
                  collaborate in an adversarial environment to achieve
                  specific objectives. In this paper, we describe
                  CMUnited-97, the team of small robotic agents
                  that we developed to enter the RoboCup-97
                  competition. We designed and built the robotic
                  agents, devised the appropriate vision algorithm,
                  and developed and implemented algorithms for
                  strategic collaboration between the robots in an
                  uncertain and dynamic environment. The robots can
                  organize themselves in formations, hold specific
                  roles, and pursue their goals. In game situations,
                  they have demonstrated their collaborative behaviors
                  on multiple occasions. The robots can also switch
                  roles to maximize the overall performance of the
                  team.  We present an overview of the vision
                  processing algorithm which successfully tracks
                  multiple moving objects and predicts trajectories.
                  The paper then focusses on the agent behaviors
                  ranging from low-level individual behaviors to
                  coordinated, strategic team behaviors.
                  CMUnited-97 won the RoboCup-97 small-robot
                  competition at IJCAI-97 in Nagoya, Japan.
     },
)