@InProceedings{rcup99wspaper, author = {Birk, Andreas and Kenn, Holger}, editor = {Veloso, Manuela and Pagello, Enrico and Kitano, Hiroaki}, title = "{Heterogeneity and On-Board Control in the Small Robots League}", booktitle = {RoboCup-99: Robot Soccer World Cup III}, number = {1856}, month = {}, year = {1999}, }