Sandewall, E., Hultman, J., and Tengvald, E. (1988). Software Architecture and Programming Paradigms for Robotics Applications. Technical Report LiTH-IDA-R-88-12, Department of Computer and Information Science, Linköping University, Sweden. (bibtex),
Abstract: We propose a layered software architecture intended for robotics applications, where there is a data flow from sensors to actuators.
CS Dept TR Overview