Distributed Architecture for a Fail-Safe Robot System. Kazanzides, P., Cain, P. W., & Wasti, H. A. In DSPX'96, San Jose, CA, Mar, 1996.
bibtex   
@inproceedings{Kazanzides1996,
  author = {Kazanzides, Peter and Cain, Phillip W. and Wasti, Hamid A.},
  title = {Distributed Architecture for a Fail-Safe Robot System},
  booktitle = {DSPX'96},
  address = {San Jose, CA},
  month = {Mar},
  year = {1996}
}

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