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Robotics poses a challenge for software engineering as the vast numbers of different robot platforms impose different requirements on robot control architectures. The platform dependent development of robotic applications impedes reusability and portability. The lack of reusability hampers broad propagation of robotics applications. The MontiArcAutomaton architecture and behavior modeling framework provides an integrated, platform independent structure and behavior modeling language with anarXiv:1409.2310v1 fatcat:rvtlwnh7izdejhaq7kbfigk4h4