@article{Sahin07ab,
	Author = {E. Sahin and M. Cakmak and M.R. Dogar and E. Ugur and G. Ucoluk},
	Title = {To Afford or Not to Afford: A New Formalization of Affordances Toward Affordance-Based Robot Control},
	Journal = {Adaptive Behavior},
	Number = 4,
	Volume = 15,
	Pages = {447--472},
	Year = {2007}}