Luís Rodrigues Mário Luís Guimarães José Rufino Fault-Tolerant Clock Synchronization in CAN. 420-429 1998 conf/rtss/1998 RTSS http://doi.ieeecomputersociety.org/10.1109/REAL.1998.739775 db/conf/rtss/rtss1998.html#RodriguesGR98