1. Gomaa, H.: Designing Concurrent, Distributed, and Real-Time Applications with UML. Addison-Wesley, Boston (2000)
2. Pfleeger, S.L., Atlee, J.M.: Software Engineering Theory and Practice, 3rd edn. Prentice-Hall, Upper Saddle River (2006)
3. Crnkovic, I.: Component-based Approach for Embedded Systems. IEEE Press, New York (2004)
4. Brugali, D., Scandurra, P.: Component-based robotic engineering. Robot Autom Mag IEEE 16(4), 84–96 (2009)
5. Jackson, J.: Microsoft Robotics Studio: A Technical Introduction, IEEE Robotics and Automation Magazine, Dec, pp. 82–87 (2007)