Affordance Equivalences in Robotics: A Formalism. Andries, M., García, R. O. C., Chatila, R., Giusti, A., & Gambardella, L. M. Frontiers Neurorobotics, 12:26, 2018.
Affordance Equivalences in Robotics: A Formalism [link]Paper  doi  bibtex   
@article{DBLP:journals/finr/AndriesGCGG18,
  author    = {Mihai Andries and
               Ricardo Omar Ch{\'{a}}vez Garc{\'{\i}}a and
               Raja Chatila and
               Alessandro Giusti and
               Luca Maria Gambardella},
  title     = {Affordance Equivalences in Robotics: {A} Formalism},
  journal   = {Frontiers Neurorobotics},
  volume    = {12},
  pages     = {26},
  year      = {2018},
  url       = {https://doi.org/10.3389/fnbot.2018.00026},
  doi       = {10.3389/fnbot.2018.00026},
  timestamp = {Tue, 09 Jun 2020 01:00:00 +0200},
  biburl    = {https://dblp.org/rec/journals/finr/AndriesGCGG18.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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