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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.
        },      
)