1. Scott Benson. Learning Action Models for Reactive Autonomous Agents. PhD thesis, Stanford University, December 1996. Department of Computer Science.
2. Bruce Mitchell Blumberg. Old Tricks, New Dogs: Ethology and Interactive Creatures. PhD thesis, MIT, September 1996. Media Laboratory, Learning and Common Sense Section.
3. Rodney A. Brooks. A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, RA-2:14–23, April 1986.
4. Joanna Bryson. Cross-paradigm analysis of autonomous agent architecture. Journal of Experimental and Theoretical Artificial Intelligence, 12(2):165–190, 2000.
5. Joanna Bryson. Hierarchy and sequence vs. full parallelism in reactive action selection architectures. In From Animals to Animats 6 (SAB00), Cambridge, MA, 2000. MIT Press.