Robots: A Real-Time Systems Architectural Style

@inproceedings{Gafni:FSE99,
  author    = {Vered Gafni},
  title     = {Robots: A {Real-Time} Systems Architectural Style},
  booktitle = {{ESEC/SIGSOFT} {FSE}},
  pages     = {57--74},
  series    = {LNCS},
  volume    = {1687},
  publisher = {Springer},
  year      = {1999},
  doi       = {10.1007/3-540-48166-4\_5},
}