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We describe a framework for the development of distributed systems combining real and virtual components, sensors and actuators. We show the benefits of our approach for the development and validation of multi robot applications. Based on our middleware, which provides a flexible communication for distributed systems, virtual and real components are seamlessly exchangeable during different development steps. This modularity and compatibility allows appropriate adjustments for design, rapiddoi:10.1145/1462735.1462753 dblp:conf/middleware/SchulzeZCC08 fatcat:srid3mzbi5bi7nbvbyb2ke4kjy