Lessons Learned from Model Checking a NASA Robot Controller.

Natasha Sharygina James C. Browne Fei Xie Robert P. Kurshan Vladimir Levin Lessons Learned from Model Checking a NASA Robot Controller. 241-270 2004 25 Formal Methods in System Design 2-3 http://www.springerlink.com/index/10.1023/B:FORM.0000040029.73127.85 db/journals/fmsd/fmsd25.html#SharyginaBXKL04