Guillaume P. Brat Doron Drusinsky Dimitra Giannakopoulou Allen Goldberg Klaus Havelund Michael R. Lowry Corina S. Pasareanu Arnaud Venet Willem Visser Richard Washington Experimental Evaluation of Verification and Validation Tools on Martian Rover Software. 167-198 2004 25 Formal Methods in System Design 2-3 http://www.springerlink.com/index/10.1023/B:FORM.0000040027.28662.a4 db/journals/fmsd/fmsd25.html#BratDGGHLPVVW04