@Misc{BHumanCodeRelease2009,
  author = {Thomas R{\"o}fer and Tim Laue and Judith M{\"u}ller and Oliver B{\"o}sche and Armin Burchardt and Erik Damrose and Katharina Gillmann and Colin Graf and Thijs Jeffry de Haas and Alexander H{\"a}rtl and Andrik Rieskamp and Andr{\'e} Schreck and Ingo Sieverdingbeck and Jan-Hendrik Worch},
  title = {B-Human Team Report and Code Release 2009},
  year = {2009},
  note = {Only available online: \url{http://www.b-human.de/downloads/bhuman09_coderelease.pdf}}
}