1. Chen, M., Dorer, K., Foroughi, E., Heintz, F., Huang, Z., Kapetanakis, S., Kostiadis, K., Kummeneje, J., Murray, J., Noda, I., Obst, O., Riley, P., Steffens, T., Wang, Y., Yin, X.: RoboCup Soccer Server. The RoboCup Federation (April 2001),Manual for Soccer Server Version 7.07 and later
2. Ferber, J.: Multi-Agent Systems - An Introduction to Distributed Artificial Intelligence. Addison-Wesley, Reading (1999)
3. Foley, J.D., van Dam, A., Feiner, S.K., Hughes, J.F.: Computer Graphics – Principles and Practice, 2nd edn. Addison-Wesley, Reading (1989)
4. Gamma, E., Helm, R., Johnson, R., Vlissides, J.: Design Patterns - Elements of Reusable Object-Oriented Software. Addison-Wesley, Reading (1995)
5. Howard, T., Merke, A., Obst, O., Riedmiller, M., Riley, P.: New soccer server initiative. Work in progress. Available in the Soccer Server Repository