@incollection{Whelan11isolaw,
year={2012},
booktitle={Leveraging Applications of Formal Methods, Verification, and Validation},
series={Communications in Computer and Information Science},
title={Efficient Localization for Robot Soccer Using Pattern Matching},
publisher={Springer Berlin Heidelberg},
author={T. Whelan and S. Stüdli and J.B. McDonald and R.H. Middleton},
pages={16-30}
}