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@InProceedings{HeintzEtal2010ECAI,
  author = 	 {Fredrik Heintz and Jonas Kvarnstr\"om and Patrick Doherty},
  title = 	 {Stream-Based Middleware Support for Autonomous Systems},
  booktitle =    {Proceedings of the European Conference on Artificial Intelligence ({ECAI})},
  year = 	 {2010},
  url =          {http://www.ida.liu.se/~frehe/publications/ecai2010.pdf}
}