@InProceedings{PotentialFields-RoboCup-2004,
  Author       = {Tim Laue and Thomas R{\"o}fer},
	Booktitle = {RoboCup 2004: Robot Soccer World Cup VIII},
	Editor = {Daniele Nardi and Martin Riedmiller and Claude Sammut and José Santos-Victor},
	Volume = {3276},
	Pages = {122-133},
	Publisher = {Springer},
	Series = {Lecture Notes in Artificial Intelligence},
	Title = {A Behavior Architecture for Autonomous Mobile Robots Based on Potential Fields},
	Year = {2005}
}