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@ARTICLE{,
    author = {Fernández-Madrigal, Juan-Antonio and Galindo, Cipriano and Gonzalez-Jimenez, Javier and Cruz-Martín, Elena and Cruz-Martín, Ana},
     title = {A Software Engineering Approach for the Development of Heterogeneous Robotic Applications},
   journal = {Robotics and Computer-Integrated Manufacturing},
    volume = {24},
    number = {1},
      year = {2008},
       doi = {10.1016/j.rcim.2006.10.002},
     pages = {150--166}
}