@conference{MVS06,
  author = {E. R. B. Marques and G. M. Gon\c{c}alves and J. B. Sousa},
  title={The use of real-time publish-subscribe middleware in networked vehicle systems},
  booktitle={Proc. IFAC Workshop on Multivehicle Systems (MVS)},
  year={2006},
  publisher={IFAC},
  doi={10.3182/20061002-2-BR-4906.00019}
}