A. E. Lindsey Charles Pecheur Simulation-Based Verification of Autonomous Controllers via Livingstone PathFinder. 357-371 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2988&spage=357 2004 conf/tacas/2004 TACAS db/conf/tacas/tacas2004.html#LindseyP04