Glenn Smith Robert Smith Aster Wardhani Software Reuse across Robotic Platforms: Limiting the Effects of Diversity. 252-261 2005 conf/aswec/2005 Australian Software Engineering Conference http://csdl.computer.org/comp/proceedings/aswec/2005/2257/00/22570252abs.htm db/conf/aswec/aswec2005.html#SmithSW05