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Wigand DLeroy, Nordmann A, Goerlich M, Wrede S.  2017.  Modularization of Domain-Specific Languages for Extensible Component-Based Robotic Systems. Proceedings of the First IEEE International Conference on Robotic Computing.
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Nordmann A, Hochgeschwender N, Wigand DLeroy, Wrede S.  2016.  A Survey on Domain-Specific Modeling and Languages in Robotics. Journal of Software Engineering in Robotics. 7:75–99.