@article{wheredogoalscomefromagenericapproach,
  title = {Where do goals come from? A Generic Approach to Autonomous Goal-System Development},
  author = {Matthias Rolf and Minoru Asada},
  year = {2014},
  eprint = {1410.5557},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1410.5557v1},
}