The global algebraic frame of the perception-action cycle
@InCollection{sommer98beitrag,
  author =       {G. Sommer},
  title = 	 {The global algebraic frame of the perception--action cycle},
  booktitle = 	 {Handbook of Computer Vision and Applications},
  editor =	 {B. J{"a}hne and H. Haussecker and P. Geissler},
  volume =	 3,
  pages =        {221-264},
  year =	 1999,
  publisher =	 {Academic Press, San Diego},
 }