David Kortenkamp Reid G. Simmons Tod Milam Joaquín Lopez Fernández A Suite of Tools for Debugging Distributed Autonomous Systems. 157-188 2004 24 Formal Methods in System Design 2 http://dx.doi.org/10.1023/B:FORM.0000017720.64153.57 db/journals/fmsd/fmsd24.html#KortenkampSMF04