@conference { Fari-Iocc-03a,
	title = {Planning trajectories in dynamic environments using a gradient method},
	booktitle = {Proceedings of the International RoboCup Symposium 2003},
	year = {2004},
	note = {ISBN: 978-3-540-22443-3},
	pages = {320{\textendash}331},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Heidelberg},
	author = {A. Farinelli and L. Iocchi}
}
