@article {383,
	title = {Layered Control Architectures in Robots and Vertebrates},
	journal = {Adaptive Behavior },
	volume = {7 },
	year = {1999},
	month = {January 1999 },
	chapter = { 99-127 },
	author = {Tony Prescott. and Peter Redgrave, and Kevin Gurney,}
}
