@TechReport{hawesetal07balt,
  author      = "Nick Hawes and Michael Zillich and Jeremy Wyatt",
  title       = {BALT \& CAST: Middleware for Cognitive Robotics},
  institution = {University of Birmingham, School of Computer Science},
  number      = {CSR-07-1},
  month       = {April},
  year        = {2007},
  email       = {N.A.Hawes@cs.bham.ac.uk, M.Zillich@cs.bham.ac.uk, J.L.Wyatt@cs.bham.ac.uk},
  file        = {/2007/CSR-07-1.pdf},
  url         = {ftp://ftp.cs.bham.ac.uk/pub/tech-reports/2007/CSR-07-1.pdf},
  abstract = { In this paper we present a toolkit for implementing
                 architectures for intelligent robotic systems. This
                 toolkit is based on a previously developed
                 architecture schema (a set of architecture design
                 rules). The purpose of both the schema and toolkit is
                 to facilitate research into information-processing
                 architectures for state-of-the-art intelligent
                 robots, whilst providing engineering solutions for
                 the development of such systems. A robotic system
                 implemented using the toolkit is presented to
                 demonstrate its key features.  }, 
}