A Formal Representation of Affordances as Reciprocal Dispositions. Toyoshima, F.; Barton, A.; and Ikeda, M.
bibtex   
@article{toyoshima_formal_nodate,
	title = {A {Formal} {Representation} of {Affordances} as {Reciprocal} {Dispositions}},
	author = {Toyoshima, Fumiaki and Barton, Adrien and Ikeda, Mitsuru}
}
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