@article{article77623681,
title   = {ArchSORS: a software process for designing software architectures of service-oriented robotic systems},
author = {Oliveira, Lucas Bueno Ruas and Leroux, Elena and Felizardo, Katia Romero and Oquendo, Flavio and Nakagawa, Elisa Yumi},
year = {2017},
doi = {10.1093/comjnl/bxx008},
journal   = {The Computer Journal: Section A: Computer Science Theory, Methods and Tools}
}