[TPTL13] Anton Tarasyuk, Inna Pereverzeva, Elena Troubitsyna and Linas Laibinis. Formal Development and Quantitative Assessment of a Resilient Multi-robotic System. In Proc. 5th International Workshop on Software Engineering for Resilient Systems (SERENE'13), volume 8166 of LNCS, pages 109-124, Springer. 2013. [Analyses the resilience of a multi-robotic system using Event-B and PRISM.]
Notes: The original publication is available at link.springer.com.