Anthony G. Pipe Brian Carse Fuzzy logic and the Pittsburgh classifier system for mobile robot control. 120-125 2003 EUSFLAT Conf. http://www.eusflat.org/publications/proceedings/EUSFLAT_2003/papers/08Pipe.pdf conf/eusflat/2003 db/conf/eusflat/eusflat2003.html#PipeC03