Loic Lacheze Ryad Benosman Jean-Arcady Meyer Integration of an Omnidirectional Visual System with the Control Architecture of Psikharpax. 42-51 2008 SAB http://dx.doi.org/10.1007/978-3-540-69134-1_5 conf/sab/2008 db/conf/sab/sab2008.html#LachezeBM08