@article{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},
  journal   = {Simulation, Modeling, and Programming for Autonomous Robots},
  pages     = {300 -- 311},
  year      = {2011},
}