@InProceedings{SimpsonRitson09,
  title =        "{T}oward {P}rocess {A}rchitectures for {B}ehavioural {R}obotics",
  author=        "Simpson,  Jonathan and Ritson,  Carl G.",
  editor=        "Welch, Peter H. and Roebbers,  Herman and Broenink,  Jan F. and Barnes,  Frederick R. M. and Ritson,  Carl G. and Sampson,  Adam T. and Stiles,  G. S. and Vinter,  Brian",
  pages =        "375--386",
  booktitle=     "{C}ommunicating {P}rocess {A}rchitectures 2009",
  isbn=          "978-1-60750-065-0",
  year=          "2009",
  month=         "nov",
  abstract=      "Building robot control programs which function as intended
     is a
challenging task.  Roboticists have developed
     architectures to provide
principles, constraints and
     primitives which simplify the building of
these correct,
     well structured systems.  A number of established
     and
prevalent behavioural architectures for robot control
     make use of
explicit parallelism with message passing. 
     Expressing these
architectures in terms of a
     process-oriented programming language,
such as occam-pi,
     allows us to distil design rules, structures and
primitives
     for use in the development of process architectures
     for
robot control."
}