@INCOLLECTION{steels:10c, author = {Steels, Luc and Loreto, Vittorio},title = {Modeling the Formation of Language: Conclusions and Future Research},year = {2010},booktitle = {Evolution of Communication and Language in Embodied Agents},pages = {283--288},publisher = {Springer},editor = {Nolfi, S. and Mirolli, M.},address = {},}