Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography

<table>Smartsoft system architecture. (<svg height="10.9125" id="M4" style="vertical-align:-0.17554pt" version="1.1" viewbox="0 0 12 10.9125" width="12" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.9125)">
<g transform="translate(72,-63.27)">
<text transform="matrix(1,0,0,-1,-71.95,63.5)">
<tspan style="font-size: 12.50px; " x="0" y="0">©</tspan>
</text>
</g>
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</svg> (1999) IEEE) (reproduced from [<a href="/journals/jr/2012/959013/#B92">67</a>] with permission of Dr. Christian Schlegel). </table>

Journal of Robotics

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Figure 5

Figure 5: Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography 