@inproceedings{NiemuellerFerreinBecketal.2011,
  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},
  pages     = {300 -- 311},
  doi       = {10.1007/978-3-642-17319-6_29},
  year      = {2011},
}