www.prismmodelchecker.org
[LNST16] Yu Lu, Hanlin Niu, Al Savvaris and Antonios Tsourdos. Verifying Collision Avoidance Behaviours for Unmanned Surface Vehicles using Probabilistic Model Checking. IFAC-PapersOnLine. 2016. [Verifies collision avoidance scenarios in unmanned surface vehicles using PRISM.]
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