1. Bakken, D.E., Dasgupta, P., Urban, J.: Middleware. Encyclopedia of Distributed Computing (2001)
2. Mohamed, N., Al-Jaroodi, J., Jawhar, I.: Middleware for Robotics: A Survey. In: IEEE International Conference on Robotics, Automation, and Mechatronics (RAM 2008), pp. 736–742 (2008)
3. Bruyninckx, H.: Open robot control software: the OROCOS project. In: 2001 IEEE International Conference on Robotics and Automation (ICRA), vol. 3, pp. 2523–2528 (2001)
4. Utz, H., Sablatnög, S., Enderle, S., Kraetzschmar, G.: Miro - Middleware for Mobile Robot Applications. IEEE Transaction on Robotics and Automation 18(4), 493–497 (2002)
5. Gerkey, B.P., Vaughan, R.T., Howard, A.: The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems. In: Proceedings of the International Conference on Advanced Robotics (ICAR), pp. 317–323 (2003)