@article {ChGi10,
	title = {Policy gradient learning for quadruped soccer robots},
	journal = {Robotics and Autonomous Systems},
	volume = {58},
	number = {7},
	year = {2010},
	note = {ISSN: 0921-8890},
	pages = {872{\textendash}878},
	publisher = {Elsevier, Amsterdam Netherlands},
	doi = {10.1016/j.robot.2010.03.008},
	author = {A. Cherubini and F. Giannone and L. Iocchi and D. Nardi and P. F. Palamara}
}
@article { ChGiIo09,
	title = {Policy Gradient Learning for a Humanoid Soccer Robot},
	journal = {Robotics and Autonomous System - Special Issue on {\textquoteleft}{\textquoteleft}Humanoid Soccer Robots{\textquoteright}{\textquoteright}},
	volume = {57},
	number = {8},
	year = {2009},
	pages = {808{\textendash}818},
	issn = {0921-8890},
	author = {A. Cherubini and F. Giannone and L. Iocchi and M. Lombardo and G. Oriolo}
}
@article {ChGiIo09,
	title = {Policy Gradient Learning for a Humanoid Soccer Robot},
	journal = {Robotics and Autonomous System - Special Issue on {\textquoteleft}{\textquoteleft}Humanoid Soccer Robots{\textquoteright}{\textquoteright}},
	volume = {57},
	number = {8},
	year = {2009},
	pages = {808{\textendash}818},
	issn = {0921-8890},
	author = {A. Cherubini and F. Giannone and L. Iocchi and M. Lombardo and G. Oriolo}
}
