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Author(s):
Tenorth, Moritz; Perzylo, Alexander; Lafrenz, Reinhard; Beetz, Michael 
Title:
Representation and Exchange of Knowledge about Actions, Objects, and Environments in the RoboEarth Framework 
Journal title:
IEEE Transactions on Automation Science and Engineering (T-ASE) 
Year:
2013 
Journal volume:
10 
Journal issue:
Pages contribution:
643-651 
Notes:
Best Paper Award Finalist)