@article{santini_lages_2011,  title={A component-based architecture for robot control},  volume={22},  ISSN={0103-1759},  url={https://doi.org/10.1590/S0103-17592011000400007},  DOI={10.1590/S0103-17592011000400007},  number={4},  journal={Sba: Controle & Automação Sociedade Brasileira de Automatica},  publisher={Sociedade Brasileira de Automática},  author={Santini, Diego Caberlon and Lages, Walter Fetter},  year={2011},  month={Jul},  pages={398–411} }