Snaith S, Holland O. (1990). An investigation of two mediation strategies suitable for behavioural control in animals and animats From animals to animats: proceedings of the first international conference of simulation of adaptive behavior.

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References and models cited by this paper
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Gurney K, Prescott TJ, Redgrave P. (2001). A computational model of action selection in the basal ganglia. I. A new functional anatomy. Biological cybernetics. 84 [PubMed]

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