Colin McMillen Kristen Stubbs Paul E. Rybski Sascha Stoeter Maria L. Gini Nikolaos Papanikolopoulos Resource scheduling and load balancing in distributed robotic control systems. 251-259 2003 44 Robotics and Autonomous Systems 3-4 http://dx.doi.org/10.1016/S0921-8890(03)00075-7 db/journals/ras/ras44.html#McMillenSRSGP03