@article{quantifyingemergentbehaviorofautonomous,
  title = {Quantifying Emergent Behavior of Autonomous Robots},
  author = {Georg Martius and Eckehard Olbrich},
  year = {2015},
  eprint = {1510.01495},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1510.01495v1},
}