Roland Wischnewski Eckhard Freund COSIMIR/spl reg/ Transport: Modeling, Simulation and Emulation of Modular Carrier based Transport Systems. 5171-5176 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1302538 db/conf/icra/icra2004-5.html#WischnewskiF04