@techreport{LimaSEBAC2009, title = {ISocRob-MSL 2009 Team Description Paper for Middle Sized League}, author = {Lima, P and Santos, J and Estilita, J and Barbosa, M and Ahmad, A and Carreira, J}, institution = {13th Annual RoboCup International Symposium 2009}, month = jul, year = {2009}, doi = {}, month_numeric = {7} }