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Jorge Cabrera-Gámez, Antonio C Domínguez-Brito, and Daniel Hernández-Sosa (2000)

CoolBOT: A Component-Oriented Programming Framework for Robotics.

In: Sensor Based Intelligent Robots, ed. by Gregory D. Hager and Henrik I. Christensen and Horst Bunke and Rolf Klein, vol. 2238, pp. 282–304, Springer. Lecture Notes in Computer Science (ISBN: 3-540-43399-6).