Tak-John Koo Judith Liebman Cedric Ma Benjamin Horowitz Alberto L. Sangiovanni-Vincentelli Shankar Sastry Platform-Based Embedded Software Design for Multi-vehicle Multi-modal Systems. 32-45 2002 conf/emsoft/2002 EMSOFT http://link.springer.de/link/service/series/0558/bibs/2491/24910032.htm db/conf/emsoft/emsoft2002.html#KooLMHSS02