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Christian Guckelsberger and Christoph Salge, 'Does Empowerment Maximisation Allow for Enactive Artificial Agents?' in Proceedings of the Fifteenth International Conference on the Synthesis and Simulation of Living Systems (Alife 2016), Cancun, Mexico, 4-8 July 2016. Carlos Gershenson, Tom Froese, Jesus M. Siqueiros, Wendy Aguilar, Eduardo J. Izquierdo and Hiroki Sayama eds., ISBN 9780262339360. Published by MIT Press.
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Guckelsberger et al. (2016) studied this question.