Simon FalsigAnders Stengaard SørensenTosNet: An easy-to-use, real-time communications protocol for modular, distributed robot controllers.1-62009ROBOCOMMhttps://doi.org/10.4108/ICST.ROBOCOMM2009.5806https://ieeexplore.ieee.org/document/4957485/conf/robocomm/2009db/conf/robocomm/robocomm2009.html#FalsigS09