The following publications are possibly variants of this publication:
- Platform-based embedded software design and system integration for autonomous vehiclesBenjamin Horowitz, Judith Liebman, Cedric Ma, Tak-John Koo, Alberto L. Sangiovanni-Vincentelli, Shankar Sastry. pieee, 91(1):198-211, 2003.
- Platform-Based Embedded Software Design for Multi-vehicle Multi-modal SystemsTak-John Koo, Judith Liebman, Cedric Ma, Benjamin Horowitz, Alberto L. Sangiovanni-Vincentelli, Shankar Sastry. emsoft 2002: 32-45 [doi]