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Creator:  Balch
U. Visser, C. Drücker, S. Hübner, E. Schmidt and H.-G. Weland, "Recognizing Formations in Opponent Teams" in RoboCup 2000, Robot Soccer World Cup IV, ser. Lecture Notes in Computer Science, no. 2019, P. Stone, T. Balch and G. Kraetschmar, Eds. Springer, 2001, pp. 391–396. Last edited by: Jan D. Gehrke  v    Pop. 47.46%
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