Andrew Webb Emma Hart Peter Ross Alistair Lawson Controlling a Simulated Khepera with an XCS Classifier System with Memory. 885-892 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2801&spage=885 2003 conf/ecal/2003 ECAL db/conf/ecal/ecal2003.html#WebbHRL03