@inproceedings{ESEC-FSE-1999-Gafni,
	author        = "Vered Gafni",
	booktitle     = "{Proceedings of the Second Joint Meeting of the Seventh European Software Engineering Conference and the Seventh Symposium on the Foundations of Software Engineering}",
	doi           = "10.1007/3-540-48166-4_5",
	editor        = "Oscar Nierstrasz and Michel Lemoine",
	isbn          = "3-540-66538-2",
	pages         = "57--74",
	publisher     = "{Springer-Verlag}",
	series        = "{Lecture Notes in Computer Science}",
	title         = "{Robots: A Real-Time Systems Architectural Style}",
	volume        = 1687,
	year          = 1999,
}