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U. Lauschner, B. Igel, L. Krawczyk, and C. Wolff, “Applying model-based principles on a distributed robotic system application,” in 2015 IEEE 8th international conference on intelligent data acquisition and advanced computing systems : technology and applications (IDAACS) : 24-26 Sept. 2015, Piscataway, NJ: IEEE, 2015, pp. 893–897.