I was puzzled by your comment. Is this Brooks paper[1] the thinking that you're referring to? [1] http://people.csail.mit.edu/brooks/papers/representation.pdf

I was puzzled by your comment. Is this Brooks paper[1] the thinking that you're referring to? [1] http://people.csail.mit.edu/brooks/papers/representation.pdf http://people.csail.mit.edu/brooks/papers/representation.pdf