@INPROCEEDINGS{Heinze-ICANN-2001,
  author = {Heinze, Andrea and Gross, Horst-Michael},
  title = {Anticipation-Based Control Architecture for a Mobile Robot},
  booktitle = {Int. Conf. on Artificial Neural Networks (ICANN)},
  year = {2001},
  pages = {899--905},
  volume = {2130},
  series = {LNCS},
  publisher = {Springer}
}