[AGK+19] J. Aldrich, D. Garlan, C. Kaestner, C. Le Goues, A. Mohseni-Kabir, I. Ruchkin, S. Samuel, B. Schmerl, C. S. Timperley, M. Veloso, I. Voysey, J. Biswas, A. Guha, J. Holtz, J. Camara and P. Jamshidi. Model-Based Adaptation for Robotics Software. IEEE Software, 36(2), pages 83-90, IEEE. 2019. [Summarises the Model-based Adaptation for Robotics Software (MARS) project; PRISM is used as one of the underlying solvers to verify task plans and architecture reconfigurations.]
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