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Steels, L. (2006) Semiotic Dynamics for Embodied Agents. IEEE Intelligent Systems, 21(3):32--38.

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Puglisi,Baronchelli,Loreto, Cultural route to the emergence of linguistic categories, 2008 :: 2
Steels, Experiments on the emergence of human communication, 2006 :: 2
Wang, Computational Approaches to Linguistic Consensus, 2006 ::