Gerardo Pardo-Castellote;Tsai-Yen Li;Yoshihito Koga;Robert H. Cannon, Jr.;Jean-Claude Latombe;Stanley A. Schneider
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The ControlShell component-based real-time programming system, and its application to the Marsokhod Martian Rover
LCTES '95 Proceedings of the ACM SIGPLAN 1995 workshop on Languages, compilers, & tools for real-time systems