H.S.Wan, D.S.Touretzky, A.D.Redish (1994) "Computing Goal Locations from Place Codes",
Proceedings of the 16th annual conference of the Cognitive Science society. Lawrence
Earlbaum Associates. p. 922-927.

A model based on coupled mechanisms for place recognition, path integration, and
maintenance of head direction in rodents replicates a variety of
neurophysiological and behavioral data. Here we consider a task described in
[Collettet al. 1986] in which gerbils were trained to find food equidistant from
three identical landmarks arranged in an equilateral triangle. In probe trials
with various manipulation of the landmark array, the model produces behaviours
similar to those of the animals. We discuss computer simulations and an
implementation of portions of the model on a mobile robot.