Claudius Stern Philipp Adelt Willi Richert Bernd Kleinjohann Hierarchically Distributing Embedded Systems for Improved Autonomy. 1-9 2008 DIPES http://dx.doi.org/10.1007/978-0-387-09661-2_1 conf/ifip10-3/2008dipes db/conf/ifip10-3/dipes2008.html#SternARK08