Judith Hartmann Sabine Rittmann Doris Wild Peter Scholz Formal incremental requirements specification of service-oriented automotive software systems. 130-133 2006 conf/sose/2006 SOSE http://doi.ieeecomputersociety.org/10.1109/SOSE.2006.16 db/conf/sose/sose2006.html#HartmannRWS06