@article{playful,
  title = {Playful: Reactive Programming for Orchestrating Robotic Behavior },
  journal = {IEEE Robotics Automation Magazine},
  abstract = {For many service robots, reactivity to changes in their surroundings is a must. However, developing software suitable for dynamic environments is difficult. Existing robotic middleware allows engineers to design behavior graphs by organizing communication between components. But because these graphs are structurally inflexible, they hardly support the development of complex reactive behavior. To address this limitation, we propose Playful, a software platform that applies reactive programming to the specification of robotic behavior.},
  volume = {25},
  number = {3},
  pages = {49-60},
  month = sep,
  year = {2018},
  slug = {playful},
  author = {Berenz, Vincent and Schaal, Stefan},
  url = {https://ieeexplore.ieee.org/document/8357389},
  month_numeric = {9}
}