@misc{indiciaed3b39678fc6c,
  title = {CLARAty: an architecture for reusable robotic software},
  author = {Kim, W. S. and Estlin, T. and Simmons, R. and Bajracharya, M. and Wright, A. and Nesnas, I. A.},
  year = {2003},
  url = {https://ntrs.nasa.gov/citations/20210005245},
  note = {Source identifier: 20210005245}
}