@InProceedings{ARC,
  author = {Shangping Ren and Yue Yu and Nianen Chen and Kevin Marth and Pierre-Etienne Poirot and Limin Shen},
  title = {Actors, Roles and Coordinators - A Coordination Model for Open Distributed Embedded Systems},
  booktitle = {Proceedings of the 8th IFIP International Conference on Coordination Models and Languages },
  Volume = {4038},  
  year ={2006},
   pages = {247--265},
}