Iman Firmansyah Zaenal Akbar Bambang Hermanto Laksana Tri Handoko An Integrated Software-based Solution for Modular and Self-independent Networked Robot http://arxiv.org/abs/0812.0070 2008 CoRR abs/0812.0070 db/journals/corr/corr0812.html#abs-0812-0070 informal publication