@InCollection{niemuellerfbg10,
  author = 	 {Tim Niem{\"u}ller and Alexander Ferrein and Daniel
                  Beck and Gerhard Lakemeyer},
  title = 	 {Design Principles of the Component-Based Robot
                  Software Framework FawkeS},
  booktitle = 	 {Simulation, Modeling, and Programming for Autonomous
                  Robots Proceedings of the 2nd International
                  Conference on Simulation, Modeling and Programming
                  for Autonomous Robots (SIMPAR 2010)},
  series =       {Lecture Notes in Computer Science},
  volume =       {6472},
  editor =       {N. Ando and S. Balakirsky and Th. Hemker M. Reggiani and O. von Stryk},
  publisher =    {Springer},
  year = 	 {2010},
  pages =        {300-311}
}

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