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. 2020 Jun 27;108:103483. doi: 10.1016/j.jbi.2020.103483

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Fig. 2 — The multi-agent system for a robot in a healthcare scenario. The system shows circles for software modules such as agents and other used frameworks and three kinds of relations (arrows). The continuous arrow indicates communication between modules, dashed arrows are activities that identify on which nodes agents and robots work. The relation: (i) < is deployed > is used for software parts; (ii) < is situated > for cyber-physical system.