Paul F. M. J. Verschure Ben J. A. Kröse Rolf Pfeifer Distributed adaptive control: The self-organization of structured behavior. 181-196 1992 9 Robotics and Autonomous Systems 3 http://dx.doi.org/10.1016/0921-8890(92)90054-3 db/journals/ras/ras9.html#VerschureKP92