@article{stueckler-ijhr08, title = {Hierarchical Reactive Control for Humanoid Soccer Robots}, author = {Behnke, S. and Stueckler, J.}, journal = {International Journal of Humanoid Robots (IJHR)}, volume = {5}, number = {3}, pages = {375--396}, year = {2008}, doi = {}, url = {http://ais.uni-bonn.de/papers/IJHR_Behnke_Stueckler_2008.pdf} }