@article{dantam2015ach,
  title={The {A}ch library: a new framework for real-time communication},
  author={Dantam, Neil T and Lofaro, Daniel M and Hereid, Ayonga and Oh, Paul Y and Ames, Aaron D and Stilman, Mike},
  journal={IEEE Robotics \& Automation Magazine},
  volume={22},
  number={1},
  pages={76--85},
  year={2015},
  publisher={IEEE},
  url = {http://ames.caltech.edu/RAM_ACH.pdf}
}

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