Nicola Tomatis Roberto Brega Gabrio Rivera Roland Siegwart "May you have a Strong (-typed) Foundation" why Strong-typed Programming Languages do Matter. 3429-3434 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308784 db/conf/icra/icra2004-4.html#TomatisBRS04