The Joint Interface of RT Components for Mobile Robots: The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project. - Masaharu Shimizu; Nobuyuki Kita; Toshihisa Saito; Eijiro Takeuchi; Yusuke Nakajima; Naohito Takegawa; Hiroki Igarashi; Yasuo Hayashibara; Hideaki Yamato; Kengo Toda; Takayuki Furuta; Makoto Mizukawa (J. Robotics Mechatronics, 2010)