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“Layered Control Architectures in Robots and Vertebrates”, Adaptive Behavior , vol. 7 , no. 1, 1999.
, “A Robot Trace Maker: Modeling the Fossil Evidence of Early Invertebrate Behavior”, Artificial Life , vol. 3, no. 4, 1997.
, “Distributed adaptive control: a paradigm for designing autonomous agents.”, in First European Conference on Artificial Life., 1992.
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