@incollection{Ma2010,
  title = "{OxBlue2009(2D)} Team Description",
  author = "Jie Ma and Stephen Cameron",
  year = "2010",
  booktitle = "{RoboCup} 2009: Robot Soccer World Cup {XIII}",
  edition = "1",
  editor = "Baltes, J. and Lagoudakis, M.G. and Naruse, T. and Shiry, S.",
  location = "Graz, Austria",
  month = "June",
  note = "CD Supplement",
  publisher = "Springer Berlin / Heidelberg",
  series = "Lecture Notes in Computer Science",
  volume = "5949",
}