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Ijspeert, A. J., Hallam, J., & Willshaw, D. (1997). Artificial Lampreys: Comparing Naturally and Artificially Evolved Swimming Controllers. In P. Husbands & I. Harvey (Editors), Proceedings of the Fourth European Conference on Artificial Life, ECAL97 (pp. 256–265). MIT Press. https://infoscience.epfl.ch/handle/20.500.14299/218614

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