L. Moreno, M.A. Salichs. A Neural-network Supervisor for Behavioral Primitives of Autonomous Systems. IEEE Int. Conference on Industrial Electronics, Control and Instrumentation. Proceedings of the 1992 Int. Conference on Industrial Electronics, Control and Instrumentation, ISBN: 0-7803-0582-5, pages: 1105 - 1110, IEEE Publishing Services. 1992-11-09, San Diego, USA. 1992.