Journal Paper Accepted at Nature Publishing Group: Scientific Reports. December 18, 2015October 2, 2017 Elmar Rueckert Rueckert, Elmar; Kappel, David; Tanneberg, Daniel; Pecevski, Dejan; Peters, Jan Recurrent Spiking Networks Solve Planning Tasks Nature Publishing Group: Scientific Reports, 6 (21142), 2016.