Published in
Springer Verlag, Progress in Artificial Intelligence, p. 520-529
DOI: 10.1007/978-3-540-77002-2_44
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Heuristic Q-Learning Soccer Players: A New Reinforcement Learning Approach to RoboCup Simulation.
Proceedings article published in 2007 by
Luiz A. Celiberto,
Jackson Paul Matsuura,
J. Matsmura,
Reinaldo A. C. Bianchi 
This paper is available in a repository.
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