Lucas Paletta Gerald Fritz Florian Kintzler Jörg Irran Georg Dorffner Perception and Developmental Learning of Affordances in Autonomous Robots. 235-250 2007 conf/ki/2007 KI http://dx.doi.org/10.1007/978-3-540-74565-5_19 db/conf/ki/ki2007.html#PalettaFKID07