1 “... with well-defined models that help to characterize and compare alternative organizational principles...”

2 “... in uncertain environments. The work presented focuses on well-defined models--robotic, computer-simulation...”

3 “... in uncertain environments. The work presented focuses on well-defined models--robotic, computer-simulation...”

4 “... and survive in uncertain environments. The work presented focuses on well-defined models--robotic, computer...”

5 “... principles as well as adaptations that evolved in particular species in response to specific selective...”