Hierarchical Approach for Design of Multi-vehicle Multi-modal Embedded Software. - Tak-John Koo; Judith Liebman; Cedric Ma; Shankar Sastry 001 (EMSOFT, 2001)

Platform-Based Embedded Software Design for Multi-vehicle Multi-modal Systems. - Tak-John Koo; Judith Liebman; Cedric Ma; Benjamin Horowitz; Alberto L. Sangiovanni-Vincentelli; Shankar Sastry 001 (EMSOFT, 2002)

Platform-based embedded software design and system integration for autonomous vehicles. - Benjamin Horowitz; Judith Liebman; Cedric Ma; Tak-John Koo; Alberto L. Sangiovanni-Vincentelli; Shankar Sastry 001 (Proc. IEEE, 2003)