@INCOLLECTION { steels:10a, address = {Berlin},author = {Steels, Luc},booktitle = {Evolution of Communication and Language in Embodied Agents},editor = {Nolfi, S. and Mirolli, M.},note = {Language},pages = {223--233},publisher = {Springer},title = {Modeling the Formation of Language in Embodied Agents: Methods and Open Challenges},type = {INCOLLECTION},year = {2010},}