Architectural Mechanisms for Dynamic Changes of Behavior Selection Strategies in Behavior-Based Systems. Scheutz, M. & Andronache, V. IEEE Transactions of System, Man, and Cybernetics Part B: Cybernetics, 34(6):2377–2395, 2004.
bibtex   
@Article{         scheutzandronache04cybernetics,
  author        = {Matthias Scheutz and Virgil Andronache},
  title         = {Architectural Mechanisms for Dynamic Changes of Behavior Selection Strategies in Behavior-Based Systems},
  journal       = {IEEE Transactions of System, Man, and Cybernetics Part B: Cybernetics},
  volume        = {34},
  number        = {6},
  year          = {2004},
  pages         = {2377--2395},
  link          = {http://hrilab.tufts.edu/publications/smc_final.pdf},
}

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