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@INBOOK{,
     author = {Fernández-Madrigal, Juan-Antonio and Cruz-Martín, Ana and Galindo, Cipriano and Gonzalez-Jimenez, Javier},
      month = sep,
      title = {Heterogeneity as a Corner Stone of Software Development in Robotics},
     series = {Software Engineering and Development},
    chapter = {2},
       year = {2009},
  publisher = {Nova Publishers},
       isbn = {978-1-60692-146-3},
        url = {https://www.novapublishers.com/catalog/product_info.php?products_id=8253},
      pages = {13--22}
}