@book{levinson2006grammars,
  author =        {Levinson, Stephen C. and Wilkins, David P.},
  publisher =     {Cambridge University Press},
  title =         {Grammars of Space},
  year =          {2006},
}

@book{levinson2003space,
  author =        {Levinson, Stephen C.},
  number =        {5},
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  series =        {Language, Culture and Cognition},
  title =         {Space in Language and Cognition: {E}xplorations in
                   Cognitive Diversity},
  year =          {2003},
}

@inproceedings{steels2000language,
  author =        {Steels, Luc},
  booktitle =     {{Proceedings of the 6\textsuperscript{th}
                   International Conference on Parallel Problem Solving
                   from Nature}},
  editor =        {Schoenauer, M. and Deb, K. and Rudolph, G. and
                   Yao, X. and Lutton, E. and Merelo, J.J. and
                   Schwefel, H-P.},
  pages =         {17--26},
  publisher =     {Springer},
  series =        {Lecture Notes in Computer Science},
  title =         {Language as a Complex Adaptive System},
  volume =        {1917},
  year =          {2000},
}

@article{steels2001language,
  author =        {Steels, Luc},
  journal =       {IEEE Intelligent systems},
  pages =         {16--22},
  publisher =     {IEEE Computer Society},
  title =         {{Language games for autonomous robots}},
  year =          {2001},
}

@book{miller1976language,
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  publisher =     {Belknap Press},
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@incollection{eschenbach2004functional,
  author =        {Eschenbach, Carola},
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  editor =        {Carlson, Laura A. and E. van der Zee},
  pages =         {71--93},
  publisher =     {Oxford University Press},
  series =        {Explorations in Language and Space},
  title =         {Contextual, Functional, and Geometric Components in
                   the Semantics of Projective Terms},
  volume =        {2},
  year =          {2004},
}

@incollection{steels2009cognition,
  author =        {Steels, Luc},
  booktitle =     {Biological Foundations and Origin of Syntax},
  editor =        {Bickerton, Derek and Szathmáry, Eörs},
  pages =         {345--368},
  publisher =     {MIT Press},
  series =        {Strungmann Forum Reports},
  title =         {Cognition and Social Dynamics Play a Major Role in
                   the Formation of Grammar},
  volume =        {3},
  year =          {2009},
}

@incollection{steels2011self-organization,
  author =        {Steels, Luc},
  booktitle =     {{E}xperiments in {C}ultural {L}anguage {E}volution},
  editor =        {Steels, Luc},
  publisher =     {John Benjamins},
  title =         {Self-organization and Selection in Cultural Language
                   Evolution},
  year =          {2011},
}

@article{rizzolatti1998language,
  author =        {Rizzolatti, Giacomo and Arbib, Michael A.},
  journal =       {Trends in neurosciences},
  number =        {5},
  pages =         {188--194},
  title =         {{Language within our grasp}},
  volume =        {21},
  year =          {1998},
}

@incollection{arbib2002mirror,
  author =        {Arbib, Michael A.},
  booktitle =     {{Imitation in Animals and Artifacts}},
  editor =        {Dautenhahn, Kerstin and Nehaniv, Chrystopher L.},
  pages =         {229--280},
  publisher =     {The MIT Press},
  title =         {{The Mirror System, Imitation, and the Evolution of
                   Language}},
  year =          {2002},
}

@incollection{steels2012mirror,
  author =        {Steels, Luc and Spranger, Michael},
  booktitle =     {{E}xperiments in {C}ultural {L}anguage {E}volution},
  editor =        {Steels, Luc},
  pages =         {87---109},
  publisher =     {John Benjamins},
  title =         {Emergent Mirror Systems for Body Language},
  year =          {2012},
}

@article{steels2008mirror,
  author =        {Steels, Luc and Spranger, Michael},
  journal =       {Connection Science},
  number =        {4},
  pages =         {337--358},
  title =         {The Robot in the Mirror},
  volume =        {20},
  year =          {2008},
}

@article{schoenemann1999syntax,
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  journal =       {Minds and Machines},
  number =        {3},
  pages =         {309--346},
  publisher =     {Springer},
  title =         {{Syntax as an emergent characteristic of the
                   evolution of semantic complexity}},
  volume =        {9},
  year =          {1999},
}

@incollection{christiansen2001sequential,
  author =        {Christiansen, Morten H. and Dale, Rick A.C. and Ellefson, Michelle R. and
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  editor =        {Cangelosi, Angelo and Parisi, Domenico},
  pages =         {165--188},
  publisher =     {Springer},
  title =         {{The role of sequential learning in language
                   evolution: Computational and experimental studies}},
  year =          {2001},
}

@incollection{dunbar1998theory,
  author =        {Dunbar, Robin},
  booktitle =     {Approaches to the Evolution of Language: {S}ocial and
                   Cognitive Bases},
  editor = 		  {Hurford, James R. and Michael Studdert-Kennedy and Chris Knight},
  pages =         {92--110},
  publisher =     {Cambridge University Press},
  title =         {{Theory of mind and the evolution of language}},
  year =          {1998},
}

@ARTICLE{carpenter1998social,
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  number =        {4},
  title =         {{Social cognition, joint attention, and communicative
                   competence from 9 to 15~{m}onths of age}},
  volume =        {63},
  year =          {1998},
}

@article{tomasello1992social,
  author =        {Tomasello, Michael},
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@article{tomasello2005understanding,
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  number =        {05},
  pages =         {675--691},
  title =         {{Understanding and sharing intentions: The origins of
                   cultural cognition}},
  volume =        {28},
  year =          {2005},
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@article{dunbar2003social,
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  journal =       {Annual Review of Anthropology},
  pages =         {163--181},
  title =         {{The social brain: Mind, language, and society in
                   evolutionary perspective}},
  volume =        {32},
  year =          {2003},
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@incollection{worden1998evolution,
  author =        {Worden, Robert},
  booktitle =     {{Approaches to the Evolution of Language: Social and
                   Cognitive Bases}},
  editor =        {Hurford, James R. and Michael Studdert-Kennedy and Chris Knight},
  pages =         {148--166},
  publisher =     {Cambridge University Press},
  title =         {{The evolution of language from social intelligence}},
  year =          {1998},
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@article{evans2009universals,
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  volume =        {32},
  year =          {2009},
  doi =           {10.1017/S0140525X0999094X},
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@book{maddieson1984patterns,
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@article{oudeyer2005self,
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  volume =        {233},
  year =          {2005},
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@book{hopper2003grammaticalization,
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@article{smith2003iterated,
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  year =          {2003},
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@book{pope1952latin,
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@book{traugott1991grammaticalization,
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@book{sperber1986relevance,
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@book{camazine2003self,
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  year =          {2003},
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@book{kauffman1993origins,
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@article{garrod1994conversation,
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@article{pickering2004toward,
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  volume =        {27},
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@incollection{steels2002bootstrapping,
  author =        {Steels, Luc and Kaplan, Frédéric},
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                   {F}ormal and computational models},
  editor =        {Briscoe, Ted},
  pages =         {53--74},
  publisher =     {Cambridge University Press},
  title =         {Bootstrapping grounded word semantics},
  year =          {2002},
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@incollection{steels2007recruitment,
  author =        {Steels, Luc},
  booktitle =     {{The Emergence of Communication and Language}},
  editor =        {Lyon, Caroline and Nehaniv, Chrystopher L. and Cangelosi, Angelo},
  pages =         {129--151},
  publisher =     {Springer},
  title =         {{The Recruitment Theory of Language Origins}},
  year =          {2007},
}

@inproceedings{steels1997distinctions,
  author =        {Steels, Luc},
  booktitle =     {Proceedings of the Ninth European Conference on
                   Machine Learning},
  editor =        {van Someren, Maarten and Widmer, Gerhard},
  pages =         {4--13},
  publisher =     {Springer},
  title =         {Constructing and Sharing Perceptual Distinctions},
  year =          {1997},
}

@incollection{steels1998synthesizing,
  author =        {Steels, Luc},
  booktitle =     {Approaches to the Evolution of Language: {S}ocial and
                   Cognitive bases},
  editor =        {Hurford, James and Knight, Chris and Studdert-Kennedy, Michael},
  pages =         {384--404},
  publisher =     {Edinburgh University Press},
  title =         {Synthesising the Origins of Language and Meaning
                   Using Co-evolution, Self-organisation and Level
                   formation},
  year =          {1998},
}

@article{tinbergen1963aims,
  author =        {Tinbergen, Nikolaas},
  journal =       {{Zeitschrift f{\"u}r Tierpsychologie}},
  number =        {4},
  pages =         {410--433},
  title =         {{On aims and methods of ethology}},
  volume =        {20},
  year =          {1963},
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@book{bickerton1999language,
  author =        {Bickerton, Derek},
  publisher =     {Chicago University Press},
  title =         {{Language and species}},
  year =          {1999},
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@article{jackendoff1999possible,
  author =        {Jackendoff, Ray},
  journal =       {{Trends in Cognitive Sciences}},
  number =        {7},
  pages =         {272--279},
  title =         {{Possible stages in the evolution of the language
                   capacity}},
  volume =        {3},
  year =          {1999},
}

@article{steels2005emergence,
  author =        {Steels, Luc},
  journal =       {Connection Science},
  number =        {3-4},
  pages =         {213--230},
  title =         {The Emergence and Evolution of Linguistic Structure:
                   {F}rom Lexical to Grammatical Communication Systems},
  volume =        {17},
  year =          {2005},
}

@mastersthesis{spranger2008grounded,
  author =        {Spranger, Michael},
  school =        {Humboldt-Universit{\"a}t zu Berlin},
  type =          {German Diplom Thesis},
  title =         {World Models for Grounded Language Games},
  year =          {2008},
}

@incollection{spranger2012perception,
  author =        {Spranger, Michael and Loetzsch, Martin and Steels, Luc},
  booktitle =     {Language Grounding in Robots},
  editor =        {Steels, Luc and Hild, Manfred},
  pages =         {89--110},
  publisher =     {Springer},
  title =         {A Perceptual System for Language Game Experiments},
  year =          {2012},
}

@article{coradeschi2003anchoring,
  author =        {Coradeschi, Silvia and Saffiotti, Alessandro},
  journal =       {Robotics and Autonomous Systems},
  number =        {2--3},
  pages =         {85--96},
  title =         {An Introduction to the Anchoring Problem},
  volume =        {43},
  year =          {2003},
}

@article{kalman1960linear,
  author =        {Kálmán, Rudolf E.},
  journal =       {Transactions of the ASME-Journal of Basic
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@incollection{tomasello1995joint,
  address =       {Hillsdale, NJ},
  author =        {Tomasello, Michael},
  booktitle =     {Joint Attention: {I}ts Origins and Role in Development},
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  publisher =     {Lawrence Erlbaum Associates},
  title =         {Joint Attention as Social Cognition},
  year =          {1995},
}

@inproceedings{steels1998stochasticity,
  author =        {Steels, Luc and Kaplan, Frédéric},
  booktitle =     {{Proceedings of the Sixth International Conference on
                   Artificial Life}},
  editor =        {Adami, Christoph and Belew, Richard K. and
                   Kitano, Hiroaki and Taylor, Charles E.},
  publisher =     {The MIT Press},
  title =         {Stochasticity as a Source of Innovation in Language
                   Games},
  year =          {1998},
}

@inproceedings{steels2000emergence,
  author =        {Steels, Luc},
  booktitle =     {{ECAI 2000: Proceedings of the 14\textsuperscript{th}
                   European Conference on Artificial Intelligence}},
  editor =        {Horn, Werner},
  pages =         {764--769},
  publisher =     {IOS Publishing},
  title =         {The Emergence of Grammar in Communicating Autonomous Robotic Agents},
  year =          {2000},
}

@inproceedings{steels2005planning,
  author =        {Steels, Luc and Bleys, Joris},
  booktitle =     {Proceedings of CAEPIA \'05.},
  editor =        {A. Bugarin Diz and J. Santos Reyes},
  publisher =     {Springer},
  series =        {Lecture Notes in AI},
  title =         {Planning What to Say: {S}econd Order Semantics for
                   {Fluid Construction Grammars}},
  year =          {2005},
}

@inproceedings{vandenbroeck2008irl,
  address =       {Singapore},
  author =        {Van den Broeck, Wouter},
  booktitle =     {The Evolution of Language: {P}roceedings of the 7\textsuperscript{th} {International Conference (EVOLANG7)}},
  series= {Evolang},
  number={7},
  editor =        {Smith, Andrew D. M. and Kenny Smith and Ramon {Ferrer i Chancho}},
  publisher =     {World Scientific},
  title =         {Constraint-based Compositional Semantics},
  year =          {2008},
}

@inproceedings{spranger2010irl,
  author =        {Spranger, Michael and Loetzsch, Martin and Pauw, Simon},
  booktitle =     {{Proceedings of the 19\textsuperscript{th} European
                   Conference on Artificial Intelligence (ECAI 2010)}},
  editor =        {Coelho, Helder and Rudi Studer and Michael Wooldridge},
  number =        {215},
  pages =         {929--934},
  publisher =     {IOS Press},
  title =         {Open-ended Grounded Semantics},
  series =        {Frontiers in Artificial Intelligence and
                   Applications},
  year =          {2010},
}

@incollection{spranger2012irl,
  author =        {Spranger, Michael and Pauw, Simon and Loetzsch, Martin and
                   Steels, Luc},
  booktitle =     {{Language Grounding in Robots}},
  editor =        {Steels, Luc and Hild, Manfred},
  pages =         {153--172},
  publisher =     {Springer},
  title =         {Open-ended Procedural Semantics},
  year =          {2012},
}

@article{johnson1977procedural,
  author =        {Johnson-Laird, Philip N.},
  journal =       {Cognition},
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  title =         {{Procedural semantics}},
  volume =        {5},
  year =          {1977},
}

@inproceedings{steels2006dampen,
  author =        {Steels, Luc and Wellens, Pieter},
  booktitle =     {Symbol Grounding and Beyond: {Proceedings of the Third
                   International Workshop on the Emergence and Evolution
                   of Linguistic Communication}},
  editor =        {Vogt, Paul and Sugita, Yuuya and Tuci, Elio and Nehaniv, Chrystopher},
  pages =         {76--88},
  publisher =     {Springer},
  series =        {LNAI 4211},
  title =         {How Grammar Emerges to Dampen Combinatorial Search in
                   Parsing},
  year =          {2006},
}

@article{billard1998grounding,
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  journal =       {Robotics and Autonomous Systems},
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  year =          {1998},
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@article{vogt2001bootstrapping,
  author =        {Vogt, Paul},
  journal =       {Evolution of Communication},
  number =        {1},
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                   robots},
  volume =        {4},
  year =          {2002},
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@incollection{steels2008grounding,
  author =        {Steels, Luc},
  booktitle =     {Symbols and Embodiment: {D}ebates on Meaning and
                   Cognition},
  editor =        {{de Vega}, Manuel and Arthur Glenberg and Arthur Graesser},
  publisher =     {Oxford University Press},
  title =         {The Symbol Grounding Problem Has Been Solved. {S}o
                   What's Next?},
  year =          {2008},
}

@article{steels2005coordinating,
  author =        {Steels, Luc and Belpaeme, Tony},
  journal =       {Behavioral and Brain Sciences},
  pages =         {469--529},
  title =         {{Coordinating perceptually grounded categories
                   through language: A case study for colour}},
  volume =        {28},
  year =          {2005},
}

@inproceedings{bleys2009grounded,
  author =        {Bleys, Joris and Loetzsch, Martin and Spranger, Michael and
                   Steels, Luc},
  booktitle =     {{Proceedings of the 18\textsuperscript{th} IEEE
                   International Symposium on Robot and Human
                   Interactive Communication (Ro-man 2009)}},
  title =         {The Grounded Color Naming Game},
  year =          {2009},
}

@article{siskind2001grounding,
  author =        {Siskind, Jeffrey M.},
  journal =       {Journal of Artificial Intelligence Research},
  pages =         {31--90},
  title =         {Grounding the Lexical Semantics of Verbs in Visual Perception using Force Dynamics and Event Logic},
  volume =        {15},
  year =          {2001},
}

@article{steels2003events,
  author =        {Steels, Luc and Baillie, Jean-Christophe},
  journal =       {Robotics and Autonomous Systems},
  number =        {2-3},
  pages =         {163--173},
  title =         {Shared grounding of event descriptions by autonomous
                   robots},
  volume =        {43},
  year =          {2003},
}

@incollection{belpaeme2007language,
  address =       {London, UK},
  author =        {Belpaeme, Tony and Bleys, Joris},
  booktitle =     {Emergence of Communication and Language},
  editor =        {Lyon, Caroline and Nehaniv, Chrystopher L. and Cangelosi, Angelo},
  pages =         {339--353},
  publisher =     {Springer},
  title =         {Language, Perceptual Categories and their
                   Interaction: {I}nsights from Computational
                   Modelling},
  year =          {2007},
}

@article{haddock1989computational,
  author =        {Haddock, Nicholas J.},
  journal =       {Language and Cognitive Processes},
  number =        {3},
  pages =         {337--368},
  publisher =     {Psychology Press},
  title =         {{Computational models of incremental semantic
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  volume =        {4},
  year =          {1989},
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@phdthesis{winograd1971procedures,
  author =        {Winograd, Terry},
  school =        {Massachusetts Institute of Technology},
  title =         {Procedures as a Representation for Data in a
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                   Language},
  year =          {1971},
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@conference{bailey1997modeling,
  author =        {Bailey, David and Feldman, Jerome and Narayanan, Srini},
  booktitle =     {Proceedings {of the Nineteenth Annual Conference of
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                   Stanford University}},
  organization =  {Lawrence Erlbaum Associates},
  pages =         {19},
  title =         {{Modeling embodied lexical development}},
  year =          {1997},
}

@conference{narayanan1999moving,
  author =        {Narayanan, Srini},
  booktitle =     {{Proceedings of the National Conference on Artificial
                   Intelligence (AAAI'99)}},
  organization =  {American Association for Artificial Intelligence
                   Menlo Park, CA, USA},
  pages =         {121--127},
  title =         {Moving right along: {A} computational model of
                   metaphoric reasoning about events},
  year =          {1999},
}

@article{roy2005semiotic,
  author =        {Roy, Deb},
  journal =       {Artificial Intelligence},
  number =        {1-2},
  pages =         {170--205},
  publisher =     {Elsevier},
  title =         {{Semiotic schemas: A framework for grounding language
                   in action and perception}},
  volume =        {167},
  year =          {2005},
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@book{goldberg1995constructions,
  author =        {Goldberg, Adele E.},
  publisher =     {Chicago University Press},
  title =         {Constructions: {A} Construction Grammar Approach to
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  year =          {1995},
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@book{croft2001radical,
  author =        {Croft, William},
  publisher =     {Oxford University Press},
  title =         {Radical Construction Grammar},
  year =          {2001},
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@article{beule2005hierarchy,
  author =        {De Beule, Joachim and Steels, Luc},
  journal =       {KI 2005: Advances in Artificial Intelligence},
  pages =         {1--15},
  publisher =     {Springer},
  title =         {{Hierarchy in Fluid Construction Grammars}},
  year =          {2005},
}

@conference{steels2005linking,
  author =        {Steels, Luc and De Beule, Joachim and Neubauer, Nicolas},
  booktitle =     {{Transactions of the Belgian royal society of arts and
                   sciences}},
  pages =         {11--18},
  title =         {{Linking in Fluid Construction Grammars}},
  year =          {2005},
}

@book{steels2011design,
  editor =        {Steels, Luc},
  publisher =     {John Benjamins},
  title =         {Design patterns in {F}luid {C}onstruction {G}rammar},
  year =          {2011},
}

@inproceedings{steels2006fcg,
  author =        {Steels, Luc and De Beule, Joachim},
  booktitle =     {Symbol Grounding and Beyond: {Proceedings of the Third
                   International Workshop on the Emergence and Evolution
                   of Linguistic Communication}},
  editor =        {Vogt, Paul and Sugita, Yuuya and Tuci, Elio and Nehaniv, Chrystopher L.},
  pages =         {197--223},
  publisher =     {Springer},
  series =        {LNAI 4211},
  title =         {Unify and Merge in {F}luid {C}onstruction {G}rammar},
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@phdthesis{tenbrink2005localising,
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  year =          {2005},
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@phdthesis{bleys2010phd,
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@conference{gapp1995angle,
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@article{moratz2006spatial,
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@conference{eschenbach1997axiomatic,
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  year =          {2010},
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@incollection{pauw2012embodied,
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  publisher =     {Springer Berlin Heidelberg},
  series =        {Lecture Notes in Computer Science},
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  volume =        {7415},
  year =          {2012},
  doi =           {10.1007/978-3-642-31467-4_4},
  isbn =          {978-3-642-31466-7},
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@unpublished{steels2002case,
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@book{blake1994case,
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