?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adissertation&rft.au=Togelius%2C+Mr+Julian&rft.aulast=Togelius&rft.aufirst=Julian&rft.date=September+2003&rft.title=Evolution+of+the+layers+in+a+subsumption+architecture+robot+controller&rft.inst=University+of+Sussex