www.prismmodelchecker.org
[RMT15] Arunkumar Ramaswamy, Bruno Monsuez and Adriana Tapus. Model-driven self-adaptation of robotics software using probabilistic approach. In Proc. 2015 European Conference on Mobile Robots (ECMR'15). 2015. [Uses PRISM as part of a framework for model-driven self-adaptation of robotics software.]
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