[GCSW17] Simos Gerasimou, Radu Calinescu, Stepan Shevtsov and Danny Weyns. UNDERSEA: An Exemplar for Engineering Self-Adaptive Unmanned Underwater Vehicles. In Proc. 2017 IEEE/ACM 12th International Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS'17), pages 83-89. 2017. [Presents a self-adaptive UUV case study, incorporating runtime probabilistic model checking with PRISM.]