Inna Vistbakka, Elena Troubitsyna, Amin Majd. Multi-Layered Safety Architecture of Autonomous Systems: Formalising Coordination Perspective. In Dongjin Yu, Vu Nguyen 0003, Congfeng Jiang, editors, 19th IEEE International Symposium on High Assurance Systems Engineering, HASE 2019, Hangzhou, China, January 3-5, 2019. pages 58-65, IEEE, 2019. [doi]