@incollection{martiusherrmann:taming10, title = {Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots}, author = {Martius, Georg and Herrmann, J. Michael}, booktitle = {From Animals to Animats 11}, volume = {6226}, pages = {50-61}, series = {LNCS}, publisher = {Springer}, year = {2010}, doi = {10.1007/978-3-642-15193-4_5}, url = {http://dx.doi.org/10.1007/978-3-642-15193-4_5} }