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@ARTICLE{,
author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
title = {The NEXUS Open System for Integrating Robotic Software},
journal = {Robotics and Computer Integrated Manufacturing},
volume = {15},
number = {6},
year = {1999},
doi = {10.1016/S0736-5845(99)00037-X},
pages = {431--440}
}