James Grenning Johan Peeters Carsten Behring Agile Development for Embedded Software. 194-195 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3134&spage=194 2004 conf/xpu/2004xpu XP/Agile Universe db/conf/xpu/xpu2004.html#GrenningPB04