Sethu Vijayakumar Marc Toussaint Georgios Petkos Matthew Howard Planning and Moving in Dynamic Environments. 151-191 2009 Creating Brain-Like Intelligence http://dx.doi.org/10.1007/978-3-642-00616-6_9 series/lncs/5436 db/series/lncs/lncs5436.html#VijayakumarTPH09