Denis Sheynikhovich Ricardo Chavarriaga Thomas Strösslin Wulfram Gerstner Spatial Representation and Navigation in a Bio-inspired Robot. 245-264 2005 conf/mirrorbot/2005 Biomimetic Neural Learning for Intelligent Robots http://dx.doi.org/10.1007/11521082_15 db/conf/mirrorbot/mirrorbot2005.html#SheynikhovichCSG05