@InProceedings{hawesetal07cast,
  author      = {Nick Hawes and Michael Zillich and Jeremy Wyatt},
  title       = {{BALT} \& {CAST}: Middleware for Cognitive Robotics},
  month       = {August},
  year        = {2007},
  booktitle = {Proceedings of IEEE RO-MAN 2007},
  location = {Jeju, Korea},
  pages = {998 -- 1003},
  abstract = {In this paper we present a toolkit for implementing
              architectures for intelligent robotic systems. This
              toolkit is based on an 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.},
  url = {http://www.cs.bham.ac.uk/~nah/bibtex/papers/hawesetal07cast.pdf},
}