@article{Boloni-2008-SPE,
    author = {L. Bölöni and L. J. Luotsinen and J. N.
Ekblad and T. R. Fitz-Gibbon and C. Houchin and J. Key and M
A. Khan and J. Lyu and J. Nguyen and R. Oleson and G. Stein and
S. Vander Weide and V. Trinh},
    journal = {Software: Practice and Experience},
    number = {3},
    pages = {259-305},
    title = {A comparison study of 12 paradigms for developing embodied agents},
    volume = {38},
    year = {2008}
}