Y. Abdedda¨?mabdedda¨?m, E. Asarin, M. Gallien, F. Ingrand, C. Lesire et al., Planning Robust Temporal Plans: A Comparison Between CBTP and TGA Approaches, ICAPS, 2007.

T. Abdellatif, S. Bensalem, J. Combaz, L. De-silva, and F. Ingrand, Rigorous design of robot software: A formal component-based approach, Robotics and Autonomous Systems, vol.60, issue.12, 2012.
DOI : 10.1016/j.robot.2012.09.005

N. Abid, S. Dal-zilio, and D. L. Botlan, A formal framework to specify and verify real-time properties on critical systems, International Journal of Critical Computer-Based Systems, vol.5, issue.1/2, pp.4-30, 2014.
DOI : 10.1504/IJCCBS.2014.059593

URL : https://hal.archives-ouvertes.fr/hal-00941248

A. Basu, M. Bozga, and J. Sifakis, Modeling Heterogeneous Real-time Components in BIP, Fourth IEEE International Conference on Software Engineering and Formal Methods (SEFM'06), pp.3-12, 2006.
DOI : 10.1109/SEFM.2006.27

URL : https://hal.archives-ouvertes.fr/hal-00375298

S. Bensalem, M. Bozga, T. H. Nguyen, and J. Sifakis, D-Finder: A Tool for Compositional Deadlock Detection and Verification, CAV, 2009.
DOI : 10.1007/978-3-642-02658-4_45

URL : https://hal.archives-ouvertes.fr/hal-00722550

B. Berthomieu, J. Bodeveix, P. Farail, M. Filali, H. Garavel et al., Fiacre: an Intermediate Language for Model Verification in the Topcased Environment, ERTS, 2008.
URL : https://hal.archives-ouvertes.fr/inria-00262442

B. Berthomieu, S. Dal-zilio, and ?. Fronc, Model-Checking Real-Time Properties of an Aircraft Landing Gear System Using Fiacre, ABZ 2014: The Landing Gear Case Study, pp.110-125, 2014.
DOI : 10.1007/978-3-319-07512-9_8

URL : https://hal.archives-ouvertes.fr/hal-00967422

B. Berthomieu and M. Menasche, An enumerative approach for analyzing time Petri nets, IFIP Congress Series, vol.9, pp.41-46, 1983.

B. Berthomieu, P. Ribet, and F. Vernadat, The tool TINA ??? Construction of abstract state spaces for petri nets and time petri nets, International Journal of Production Research, vol.99, issue.14, pp.2741-2756, 2004.
DOI : 10.1137/0216062

B. Berthomieu and F. Vernadat, State Space Abstractions for Time Petri Nets. Handbook of Real-Time and Embedded Systems, 2007.

P. Bourdil, B. Berthomieu, and E. Jenn, Model-Checking Real-Time Properties of an Auto Flight Control System Function, 2014 IEEE International Symposium on Software Reliability Engineering Workshops, 2014.
DOI : 10.1109/ISSREW.2014.40

F. Boussinot and R. De-simone, The ESTEREL language, Proceeding of the IEEE, pp.1293-1304, 1991.
DOI : 10.1109/5.97299

URL : https://hal.archives-ouvertes.fr/inria-00075075

G. Brat, E. Denney, D. Giannakopoulou, J. Frank, and A. K. Jónsson, Verification of Autonomous Systems for Space Applications, 2006 IEEE Aerospace Conference, 2006.
DOI : 10.1109/AERO.2006.1656029

D. Brugali, Model-Driven Software Engineering in Robotics: Models Are Designed to Use the Relevant Things, Thereby Reducing the Complexity and Cost in the Field of Robotics, IEEE Robotics & Automation Magazine, vol.22, issue.3, pp.155-166, 2015.
DOI : 10.1109/MRA.2015.2452201

H. Bruyninckx, Open robot control software: the OROCOS project, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001.
DOI : 10.1109/ROBOT.2001.933002

A. Cimatti, M. Roveri, and P. Bertoli, Conformant planning via symbolic model checking and heuristic search, Artificial Intelligence, vol.159, issue.1-2, 2004.
DOI : 10.1016/j.artint.2004.05.003

E. Dolginova and N. Lynch, Safety verification for automated platoon maneuvers: A case study, Hybrid and Real-Time Systems, pp.154-170, 1997.
DOI : 10.1007/BFb0014723

M. B. Dwyer, G. S. Avrunin, and J. C. Corbett, Patterns in property specifications for finite-state verification, ICSE, 1999.

B. Espiau, K. Kapellos, and M. Jourdan, Formal Verification in Robotics: Why and How?, International Symposium of Robotics Research, 1996.
DOI : 10.1007/978-1-4471-1021-7_26

N. Gobillot, C. Lesire, and D. Doose, A Modeling Framework for Software Architecture Specification and Validation, LLNCS: Simulation, Modeling, and Programming for Autonomous Robots, 2014.
DOI : 10.1007/978-3-319-11900-7_26

D. Hähnel, W. Burgard, and G. Lakemeyer, GOLEX?bridging the gap between logic (GOLOG) and a real robot, In KI Advances in Artificial Intelligence, pp.165-176, 1998.

F. Ingrand and M. Ghallab, Deliberation for autonomous robots: A survey, Artificial Intelligence, 2015.
DOI : 10.1016/j.artint.2014.11.003

URL : https://hal.archives-ouvertes.fr/hal-01137921

F. Ingrand, S. Lacroix, S. Lemai-chenevier, and F. Py, Decisional autonomy of planetary rovers, Journal of Field Robotics, vol.2, issue.7, pp.559-580, 2007.
DOI : 10.1002/rob.20206

A. Mallet, C. Pasteur, M. Herrb, S. Lemaignan, and F. Ingrand, GenoM3: Building middleware-independent robotic components, 2010 IEEE International Conference on Robotics and Automation, 2010.
DOI : 10.1109/ROBOT.2010.5509539

F. Maraninchi, Operational and compositional semantics of synchronous automaton compositions, 1992.
DOI : 10.1007/BFb0084815

P. M. Merlin and D. J. Farber, Recoverability of Communication Protocols--Implications of a Theoretical Study, IEEE Transactions on Communications, vol.24, issue.9, 1976.
DOI : 10.1109/TCOM.1976.1093424

M. Quigley, B. Gerkey, K. Conley, J. Faust, T. Foote et al., ROS: an open-source Robot Operating System, IEEE ICRA, 2009.

S. Rangra and E. Gaudin, SDL to Fiacre translation. Embedded Real-Time Software and Systems

R. Simmons and C. Pecheur, Automating Model Checking for Autonomous Systems, AAAI Spring Symposium on Real-Time Autonomous Systems, 2000.

D. Simon and A. Joubert, Orccad: Towards an open robot controller computer aided design system, 1991.
URL : https://hal.archives-ouvertes.fr/inria-00075164

H. H. Täubig, U. Frese, C. Hertzberg, C. Lüth, S. Mohr et al., Guaranteeing functional safety: design for provability and computer-aided verification, Autonomous Robots, vol.22, issue.12, pp.303-331, 2011.
DOI : 10.1007/s10514-011-9271-y

T. Wongpiromsarn and R. M. Murray, Formal verification of an autonomous vehicle system, Conference on Decision and Control, 2008.