[LSM+18b] Morteza Lahijanian, María Svorenová, Akshay A. Morye, Brian Yeomans, Dushyant Rao, Ingmar Posner, Paul Newman, Hadas Kress-Gazit and Marta Kwiatkowska. Resource-Performance Trade-off Analysis for Mobile Robots. IEEE Robotics and Automation Letters, 3(3), pages 1840-1847. 2018. [Proposes a framework for analysing resource-performance trade-offs in mobile robotics, using PRISM as an underlying model checker.]