Cynthia Della Torre Cicalese, Richard M. Weatherly, Joel Sherrill, Robert H. Bolling, Kevin Forbes, Robert Grabowski, Keven Ring, David Seidel. A distributed, multi-language architecture for large unmanned ground vehicles. In Michael B. Feldman, Leemon C. Baird III, editors, Proceedings of the 2008 Annual ACM SIGAda International Conference on Ada, Portland, OR, USA, October 26-30, 2008. pages 133-138, ACM, 2008. [doi]