Cooperative global game state estimation for the RoboCup standard platform leaguehttp://www.library.tuc.gr/artemis/DT2013-0279/DT2013-0279.pdfhttp://purl.tuc.gr/dl/dias/0F1B8767-5062-4267-ADC9-38902D5954B7Cooperative global game state estimation for the RoboCup standard platform leaguefree2014-03-24application/pdf