Xiuqing Wang, Zeng-Guang Hou, Anmin Zou, Min Tan, Long Cheng (2008)
"A behavior controller based on spiking neural networks for mobile robots"
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"In this study, unsupervised spike-based Hebbian learning [18] is used for the proposed controller."

"The Hebbian learning algorithm, which is correlation based, is an important mechanism for the tuning of neural connections during development and thereafter. The Hebbian learning rule has been widely used in many NNs. In the behavior controller the connecting weights for the sensory neurons and motor neurons are updated by the spike-based Hebbian learning rules. Here the formula that Richard Kempter used in SNNs [18] is adopted."
 
[18] R. Kempter, W. Gerstner, J.L. van Hemmen (1999)
Hebbian learning and spiking neurons, Phys. Rev. E 59, pp. 4498-4514. => done

"The formula is simplified <here> as" => (6)
<Equation (8) is not correct. See Kempter for correct version.>

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"Paolo [27] controlled a light-seeking robot using spike-timing dependent plasticity (STDP) in combination with an evolutionary strategy."

[27] E.A.D. Paolo (2002)
Spike timing dependent plasticity for evolved robots
Adaptive Behav. 10 (3.4) pp. 243-263. => done