Evaluation of architectures for mobile robotics. Orebäck, A. and Christensen, H. I. Autonomous Robots, 14(1):33--50, January, 2003.
bibtex   
@article{ orebaeck03:evaluat,
  author = {Anders Orebäck and Henrik I.~Christensen},
  date-added = {2008-07-19 10:24:39 -0400},
  date-modified = {2008-07-19 10:24:39 -0400},
  journal = {Autonomous Robots},
  month = {January},
  number = {1},
  pages = {33--50},
  pdf = {hic-papers/03-OREBACK.pdf},
  title = {Evaluation of architectures for mobile robotics},
  volume = {14},
  year = {2003},
  annote = {Comparison / discussion of Saphira, TeamBots and
                  ISR. The comparison is based on a joint platform and
                  a common task}
}
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