Animals are constantly bombarded with rich and dynamic sensory inputs, and usually have a vast range of movement options available at any given time. In this scenario, to achieve purposeful, coordinated behaviour, the brain must orchestrate precise interactions across sensory and motor centres, using its knowledge of what the current goal is, which is itself modified by changing environmental contexts. These processes are believed to result in cognitive control, including functions such as working memory, decision making and attentional switching.