Steels, L. Gallery Structure Formation in . In Schaal, S, A.J. Ijspeert, A. Billard, S. Vijayakumar, J. Hallam and J-A. Meyer, editor, From Animals to Animats 8: Proceedings of the Eighth International Conference on the Simulation of Adaptive Behavior, vol. 8, pages 67-75, Cambridge, MA, 2004 The MIT Press.
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