Xiuqing Wang Zeng-Guang Hou An-Min Zou Min Tan Long Cheng A behavior controller based on spiking neural networks for mobile robots. 655-666 2008 71 Neurocomputing 4-6 http://dx.doi.org/10.1016/j.neucom.2007.08.025 db/journals/ijon/ijon71.html#WangHZTC08