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"Model-checking real-time control programs: verifying Lego(R) ..."
Torsten K. Iversen et al. (2000)
- Torsten K. Iversen, Kåre J. Kristoffersen, Kim Guldstrand Larsen

, Morten Laursen, Rune G. Madsen, Steffen K. Mortensen, Paul Pettersson
, Chris B. Thomasen:
Model-checking real-time control programs: verifying Lego(R) MindstormsTM systems using UPPAAL. ECRTS 2000: 147-155

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