Evaluation of architectures for mobile robotics. Orebäck, A. & I.~Christensen, H. Autonomous Robots, 14(1):33–50, January, 2003.
bibtex   
@article{orebaeck03:evaluat,
  annote        = {Comparison / discussion of Saphira, TeamBots and ISR. The comparison is based on a joint platform and a common task},
  author        = {Anders Oreb{\"a}ck and Henrik I.~Christensen},
  category      = {Journal},
  journal       = {Autonomous Robots},
  month         = jan,
  number        = 1,
  pages         = {33--50},
  pdf           = {hic-papers/03-OREBACK.pdf},
  title         = {Evaluation of architectures for mobile robotics},
  volume        = 14,
  year          = 2003
}

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