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@INBOOK{,
     author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier and Martín-Florido, Antonio},
      title = {Communicating and Integrating the Modules of a Robotic Software Application},
     series = {Distributed Autonomous Robotic Systems},
     volume = {3},
       year = {1998},
  publisher = {Springer,  Lueth T., Dillmann R., Dario P. and WÃ¶rn H. (eds)},
       isbn = {3-540-64399-0},
        url = {http://www.springer.com/engineering/robotics/book/978-3-642-72200-4},
      pages = {57--66}
}