Distributed behavior arbitration network: Autonomous behavior control architecture for humanoids.

Masaharu Shimizu Takayuki Furuta Ken Tomiyama Distributed behavior arbitration network: Autonomous behavior control architecture for humanoids. 32-43 2002 33 Systems and Computers in Japan 6 http://dx.doi.org/10.1002/scj.1130 db/journals/scjapan/scjapan33.html#ShimizuFT02