@article{SiefkeSommerWudkaetal., author = {Siefke, Lennart and Sommer, Volker and Wudka, Bj{\"o}rn and Thomas, Carsten}, title = {Robotic Systems of Systems Based on a Decentralized Service-Oriented Architecture}, series = {Robotics}, volume = {9}, journal = {Robotics}, number = {4}, publisher = {MDPI}, issn = {2218-6581}, doi = {10.3390/robotics9040078}, url = {http://nbn-resolving.de/urn:nbn:de:kobv:523-14461}, pages = {10}, language = {en} }