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The visual robustness of biological systems is in part due to their ability to actively integrate (fuse) information from a number of visual cues ,  . In addition to active integration, the perception-action nature of biological vision demands event-driven behavioral composition. Providing mechanical vision systems with similar capabilities therefore requires tools and techniques for cue integration and behavioral composition. In this paper, we address two issues. First, we present adoi:10.1109/5326.740671 fatcat:he3lvr7wgveljidtf7isrgy3xi