@inproceedings{whiteson:gecco03,
  title = "Evolving RoboCup Keepaway Players through Task Decomposition",
  author = "Shimon Whiteson and Nate Kohl and Risto Miikkulainen and Peter Stone",
  year = "2003",
  booktitle = "GECCO 2003: Proceedings of the Genetic and Evolutionary Computation Conference",
  month = "July",
  pages = "356-368",
  url = "http://www.cs.ox.ac.uk/people/shimon.whiteson/pubs/whitesongecco03.pdf",
}