@inproceedings{behnke-humanoids07, title = {Hierarchical reactive control for a team of humanoid soccer robots}, author = {Behnke, S. and Stueckler, J. and Schreiber, M. and Schulz, H. and B{\"o}hnert, M. and Meier, K.}, booktitle = {Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)}, pages = {622-629}, month = nov, year = {2007}, doi = {10.1109/ICHR.2007.4813936}, url = {http://www.nimbro.net/papers/Humanoids07_Hierarchical_Reactive_Control.pdf}, month_numeric = {11} }