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  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {Knowledge Processing Middleware},
  booktitle =	 {Proceedings of the first international conference on
                  Simulation, Modeling, and Programming for Autonomous
                  Robots (SIMPAR)},
  editor =       {S. Carpin and I. Noda and E. Pagello and M. Reggiani and O. von Stryk},
  pages =	 {147--158},
  year =	 {2008},
  volume =	 {5325},
  series =	 {LNAI},
  address =	 {Berlin Heidelberg},
  publisher =    {Springer Verlag},
  note =	 {3-7 November, Venice, Italy},
  url =          {http://www.ida.liu.se/%7Efrehe/publications/simpar2008.pdf}