@inproceedings {2003, title = {Optimization Criteria Underlying "Winner-Take-All" and "Voting-Based" Action Selection Policies}, booktitle = {Towards Intelligent Mobile Robots, TIMR{\textquoteright}03: 4th British Conference on Mobile Robotics}, year = {2003}, address = {University of the West of England, Bristol}, author = {Avila-Garc{\'\i}a, Orlando and Lola Ca{\~n}amero and Ren{\'e} te Boekhorst and Davey, Neil}, editor = {U Nehmzow and C Melhuish} }