González-Nalda, Pablo, Ismael Etxeberria-Agiriano, and Isidro Calvo. “Towards a Generic Architecture for Building Modular CPS As Applied to Mobile Robotics”. International Journal of Online and Biomedical Engineering (iJOE) 12, no. 01 (January 18, 2016): pp. 4–8. Accessed June 30, 2024. https://online-journals.org/index.php/i-joe/article/view/4833.