Formalised hybrid control scheme for a UAV group using Dubins set and model checking. - Suresh Jeyaraman; Antonios Tsourdos; Rafal Zbikowski; Brian A. White; Lilian Bruyere; Camille Alain Rabbath; Eric Gagnon (CDC, 2004)

Formal techniques for the modelling and validation of a co-operating UAV team that uses Dubins set for path planning. - Suresh Jeyaraman; Antonios Tsourdos; Rafal Zbikowski; Brian A. White (ACC, 2005)

Kripke modelling approaches of a multiple robots system with minimalist communication: A formal approach of choice. - Suresh Jeyaraman; Antonios Tsourdos; Rafal Zbikowski; Brian A. White (Int. J. Syst. Sci., 2006)