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    A Relay System for Supporting the Execution of Context-Aware Robot Services on ROS
    Minho Lee, Jongsun Choi, Jaeyoung Choi KIPS Transactions on Computer and Communication Systems, Vol. 6, No. 5, pp. 211-218, May. 2017
    10.3745/KTCCS.2017.6.5.211
    Keywords: Relay System, Context-Aware Robot Services, Robot Middleware, IoT Computing Environments