1. Anderson RJ. SMART: a modular architecture for robots and teleoperation. IEEE International Conference on Robotics and Automation, Atlanta, Georgia, 1993.
2. Berry G. A quick guide to ESTEREL. Technical Report, Ecole des Mines de Paris and INRIA, 1997.
3. Factorization methods for discrete sequential estimation;Bierman,1977
4. The ORCCAD architecture;Borelly;Int J Robotics Res,1998
5. Chandrinos KV, Kosmopoulos DI, Spyropoulos CD. Vision-based navigation for indoor service robots. European Workshop on Service and Humanoid Robots, Santorini, Greece, 2001.