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Hans Utz, Stefan Sablatnog, Stefan Enderle, and Gerhard Kraetzschmar, "Miro-middleware for mobile robot applications," IEEE Transaction on Robotics and Automation, Vol. 18, No. 4, pp. 1012-1018, August 2002.
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S. S. Hong, J. S. Lee, H. S. Eom, and G. I. Jeon, "The Robot Software Communication Architecture(RSCA): embedded middleware for networked service robots," Proceeding of the IEEE International Workshop on Parallel and Distributed Real Time Systems (WPDRTS), pp. 487-493, April 2006.
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CORBA specification. http://www.omg.org.
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