Georgi Petkov Tchavdar Naydenov Maurice Grinberg Boicho N. Kokinov Building Robots with Analogy-Based Anticipation. 76-90 2006 conf/ki/2006 KI http://dx.doi.org/10.1007/978-3-540-69912-5_7 db/conf/ki/ki2006.html#PetkovNGK06