Lenko Grigorov Karen Rudie José E. R. Cury Steffi Klinge Template design and automatic generation of controllers for industrial robots. 1612-1613 2008 SAC http://doi.acm.org/10.1145/1363686.1364066 conf/sac/2008 db/conf/sac/sac2008.html#GrigorovRCK08