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. 2018 Jul 6;12:35. doi: 10.3389/fnbot.2018.00035

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Copyright © 2018 Bing, Meschede, Röhrbein, Huang and Knoll.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Control architecture of recurrent-SNN. A recurrent layer of state neurons is used to control the state of the agent and receives signals from the content population, which decides the target position according to different time step.