[ZOL+19] Xingyu Zhao, Matthew Osborne, Jennifer Lantair, Valentin Robu, David Flynn, Xiaowei Huang, Michael Fisher, Fabio Papacchini and Angelo Ferrando. Towards Integrating Formal Verification of Autonomous Robots with Battery Prognostics and Health Management. In Proc. 17th International Conference on Software Engineering and Formal Methods (SEFM'19), pages 105-124. 2019. [Models an unmanned aerial vehicle inspection mission on a wind farm, focusing on the battery behaviour, and using PRISM.]