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Kenn, H., S. Carpin, M. Pfingsthorn, B. Liebald, I. Hepes, C. Ciocov, and A. Birk, "FAST-Robotics: a rapid-prototyping framework for intelligent mobile robotics", Proceedings of the 2003 IASTED International Conference on Artificial Intelligence and Applications, Benalmadena, Malaga, Spain, pp. 76-81, 2003.