AUTHOR=Artigas María I., Rodrigues Rômulo T., Vanderseypen Lars , Bruyninckx Herman 

TITLE=Software patterns and data structures for runtime coordination of robots, with a focus on realtime execution performance

JOURNAL=Frontiers in Robotics and AI

VOLUME=11

YEAR=2024

URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1363041

DOI=10.3389/frobt.2024.1363041

ISSN=2296-9144