An integrated architecture for learning of reactive behaviors based on dynamic cell structures
@Article{bruske97b,
  author =      {J. Bruske and I. Ahrns and G. Sommer},
  title =       {An integrated architecture for learning of reactive behaviors based on dynamic cell structures},
  journal =    {Robotics and Autonomous Systems},
 year =        1997,
 volume =      22,
 number =      2,
 pages =       {87-101}
}