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A Robotic Soccer Passing Task Using Petri Net Plans (Demo Paper), Palamara, P.F., Ziparo V. A., Iocchi L., Nardi D., Lima Pedro, and Costelha H. , Proceedings of 7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2008), May, Estoril, Portugal, p.1711–1712, (2008)