@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}
}