@INPROCEEDINGS{Einhorn-IROS-2012,
  author = {Einhorn, Erik and Langner, Tim and Stricker, Ronny and Martin, {\relax
    Ch}ristian and Gross, Horst-Michael},
  title = {{MIRA} -- Middleware for Robotic Applications},
  booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = {2012},
  pages = {2591--2598},
  publisher = {IEEE}
}