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@article(MASinfrastructure-AAMAS,
        author="Itsuki Noda and Peter Stone",
        title="The {R}obo{C}up Soccer Server and {CMU}nited Clients: Implemented Infrastructure for {MAS} Research", 
        journal="Autonomous Agents and Multi-Agent Systems",
        month="July--September",
        year="2003",
        volume="7",
        number="1--2",
        pages="101--120",
        abstract={The RoboCup Soccer Server and associated client code is a growing body of software infrastructure that enables a wide variety of multiagent systems research. The Soccer Server is a multiagent environment that supports 22 independent agents interacting in a complex, real-time environment. AI researchers have been using the Soccer Server to pursue research in a wide variety of areas, such as including real-time multiagent planning, real-time communication methods, collaborative sensing, and multiagent learning. This article describes the current Soccer Server and the champion CMUnited soccer-playing agents, both of which are publically available and used by a growing research community. It also describes the ongoing development of FUSS, a new, flexible simulation environment for multiagent research in a variety of multiagent domains.},      
)