Iversen, Torsten K., Kåre J. Kristoffersen, Kim G. Larsen, Morten Laursen, Rune G. Madsen, Steffen K. Mortensen, Paul Pettersson, and Chris B. Thomasen. 1999. “Model-Checking Real-Time Control Programs. Verifying LEGO Mindstorms Systems Using UPPAAL”. BRICS Report Series 6 (53). https://doi.org/10.7146/brics.v6i53.20123.