[YCF+22] Kangfeng Ye, Ana Cavalcanti, Simon Foster, Alvaro Miyazawa and Jim Woodcock. Probabilistic modelling and verification using RoboChart and PRISM. Software and Systems Modeling, 21, pages 667–716, Springer. 2022. [Presents a probabilistic extension to the RoboChart language with tool support building on PRISM.]
Notes: The original publication is available at link.springer.com.