@INCOLLECTION{affordanceschapter2009,
  author = {Luis Montesano and Manuel Lopes and Alexandre Bernardino and  Jos'e Santos-Victor},
  title = {A Computational Model of Object Affordances},
  booktitle = {Advances In Cognitive Systems},
  publisher = {IET},
  year = {2009}, 
  url ={pdfs/09-IETBook-affordances.pdf} 
}