"This approach has been used in the Recurrent Error-driven" --> This approach has been extended to biologically plausible neurons and been used in the Recurrent Error-driven...
Also, citation for quadcopter on 378: Komer, Brent, 2015. "Biologically Inspired Adaptive
Control of Quadcopter Flight" Master's Thesis, Systems Design Engineering, U of Waterloo.
https://github.com/tcstewar/2015-Embodied_Benchmarks/blob/master/paper/paper.tex#L376
"This approach has been used in the Recurrent Error-driven" --> This approach has been extended to biologically plausible neurons and been used in the Recurrent Error-driven...
Also, citation for quadcopter on 378: Komer, Brent, 2015. "Biologically Inspired Adaptive Control of Quadcopter Flight" Master's Thesis, Systems Design Engineering, U of Waterloo.