@inproceedings{CASE-2013-VenatorLN,
	author        = "Edward Venator and Gregory S. Lee and Wyatt S. Newman",
	booktitle     = "{Proceedings of the Ninth International Conference on Automation Science and Engineering}",
	doi           = "10.1109/CoASE.2013.6653969",
	pages         = "324--329",
	publisher     = "{IEEE}",
	title         = "{Hardware and software architecture of ABBY: An industrial mobile manipulator}",
	year          = 2013,
}