<?xml version="1.0" encoding="UTF-8"?>
<XML><RECORDS>
<RECORD>
	<REFERENCE_TYPE>3</REFERENCE_TYPE>
	<AUTHORS>
		<AUTHOR>Richard T. Vaughan</AUTHOR>
		<AUTHOR>Brian P. Gerkey</AUTHOR>
		<AUTHOR>Andrew Howard</AUTHOR>
	</AUTHORS>
	<YEAR>2003</YEAR>
	<TITLE>On device abstractions for portable, reusable robot code</TITLE>
	<SECONDARY_TITLE>Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)</SECONDARY_TITLE>
	<PLACE_PUBLISHED>Las Vegas, Nevada</PLACE_PUBLISHED>
	<PAGES>2121–2427</PAGES>
</RECORD>
</RECORDS></XML>