Emma Hart Peter Ross Andrew Webb Alistair Lawson A Role for Immunology in "Next Generation" Robot Controllers. 46-56 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2787&spage=46 2003 conf/icaris/2003 ICARIS db/conf/icaris/icaris2003.html#HartRWL03