Model-based design: a report from the trenches of the DARPA Urban Challenge
Jonathan Sprinkle, Mikael Eklund, Humberto Gonzalez, Esten Grøtli, Ben Upcroft, Alex Makarenko, Will Uther, Michael Moser, Robert Fitch, Hugh Durrant-Whyte, Shankar Sastry
Software and Systems Modeling
Jan 2009