Safety verification of a fault tolerant reconfigurable autonomous goal-based robotic control system. - Julia M. B. Braman; Richard M. Murray; David A. Wagner 002 (IROS, 2007)

Safety verification of fault tolerant goal-based control programs with estimation uncertainty. - Julia M. B. Braman; Richard M. Murray (ACC, 2008)

Bisimulation conversion and verification procedure for goal-based control systems. - Julia M. B. Braman; Richard M. Murray (Formal Methods Syst. Des., 2011)