@article {IOPORT.50218351,
    author       = {Saranli, Uluc and Avci, Akin and \"Ozt\"urk, Cihan},
    title        = {A modular real-time fieldbus architecture for mobile robotic platforms},
    year         = {2011},
    journal      = {IEEE T. Instrumentation and Measurement},
    volume       = {60},
    number       = {3},
    pages        = {916-927},
    doi          = {10.1109/TIM.2010.2078351},
    identifier   = {50218351},
}