Birger Johansson, Christian Balkenius. An Experimental Study of Anticipation in Simple Robot Navigation. In Martin V. Butz, Olivier Sigaud, Giovanni Pezzulo, Gianluca Baldassarre, editors, Anticipatory Behavior in Adaptive Learning Systems, From Brains to Individual and Social Behavior [the book is a result from the third workshop on anticipatory behavior in adaptive learning systems, ABiALS 2006, Rome, Italy, September 30, 2006, colocated . Volume 4520 of Lecture Notes in Computer Science, pages 365-378, Springer, 2006. [doi]