The following publications are possibly variants of this publication:
- Planning and Resource Allocation for Hard Real-time, Fault-Tolerant Plan ExecutionElla M. Atkins, Tarek F. Abdelzaher, Kang G. Shin, Edmund H. Durfee. AAMAS, 4(1/2):57-78, 2001.
- Plan generation and hard real -time execution with application to safe, autonomous flightElla M. Atkins. PhD thesis, University of Michigan, USA, 1999. [doi]