@INCOLLECTION{spranger:12f, author = {Spranger, Michael and Loetzsch, Martin and Steels, Luc},title = {A Perceptual System for Language Game Experiments},year = {2012},booktitle = {Language Grounding in Robots},pages = {89--110},publisher = {Springer},editor = {Steels, Luc and Hild, Manfred},}