Hironori Washizaki Yasuhide Kobayashi Hiroyuki Watanabe Eiji Nakajima Yuji Hagiwara Kenji Hiranabe Kazuya Fukuda Experiments on quality evaluation of embedded software in Japan robot software design contest. 551-560 2006 conf/icse/2006 ICSE http://doi.acm.org/10.1145/1134363 db/conf/icse/icse2006.html#WashizakiKWNHHF06