Model-based design: a report from the trenches of the DARPA Urban Challenge.
Jonathan SprinkleJ. Mikael EklundHumberto GonzálezEsten Ingar GrøtliBen UpcroftAlexei MakarenkoWill UtherMichael MoserRobert FitchHugh F. Durrant-WhyteShankar SastryPublished in: Softw. Syst. Model. (2009)