Himanshu Raj Balasubramanian Seshasayee Keith J. O'Hara Ripal Nathuji Karsten Schwan Tucker R. Balch <i>Spirits</i>: Using Virtualization and Pervasiveness to Manage Mobile Robot Software Systems. 116-129 2006 conf/selfman/2006 SelfMan http://dx.doi.org/10.1007/11767886_9 db/conf/selfman/selfman2006.html#RajSONSB06