1. Gomaa, H.: Designing Concurrent, Distributed, and Real-Time Applications with UML. Addison-Wesley Inc., Boston, Reading (2000)
2. Pfleeger, S.L., Atlee, J.M.: Software engineering theory and practice, 3rd edn. Prentice-Hall, Englewood Cliffs (2006)
3. Crnkovic, I.: Component-Based Approach for Embedded Systems. IEEE Press, New York (2004)
4. Brugali, D., Scandurra, P.: Component-based robotic engineering. IEEE Robot. Autom. Mag. 16(4), 84–96 (2009)
5. Jackson, J.: Microsoft robotics studio: a technical introduction. IEEE Robot. Autom. Mag. 14(4), 82–87 (2007)