@misc{ShakhimardanovHochgeschwenderReckhausetal.2011,
  author    = {Azamat Shakhimardanov and Nico Hochgeschwender and Michael Reckhaus and Gerhard K. Kraetzschmar},
  title     = {Analysis of software connectors in robotics},
  isbn      = {978-1-61284-454-1},
  doi       = {10.1109/IROS.2011.6095183},
  institution = {Fachbereich Informatik},
  pages     = {1030 -- 1035},
  year      = {2011}
}