@inproceedings{pembeci2002functional,
  title={Functional reactive robotics: An exercise in principled integration of domain-specific languages},
  author={Pembeci, Izzet and Nilsson, Henrik and Hager, Gregory},
  booktitle={Proceedings of the 4th ACM SIGPLAN international conference on Principles and practice of declarative programming},
  pages={168--179},
  year={2002}
}

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