@misc{indiciaed0c745cc8a16,
  title = {CLARAty and challenges of developing interoperable robotic software},
  author = {Nesnas, I. A. D. and Wright, A. and Bajracharya, M. and Simmons, R. and Estlin, T.},
  year = {2003},
  url = {https://ntrs.nasa.gov/citations/20060028821},
  note = {Source identifier: 20060028821}
}