Hans-Dieter Kochs Walter Geisselhardt Holger Hilmer M. Lenord Fault-Tolerant Communication in Large-Scale Manipulators. 254-266 http://link.springer.de/link/service/series/0558/bibs/1516/15160254.htm 1998 conf/safecomp/1998 SAFECOMP db/conf/safecomp/safecomp98.html#KochsGHL98