M. Althoff and J. M. Dolan, Online verification of automated road vehicles using reachability analysis, IEEE Transactions on Robotics, vol.30, issue.4, pp.903-918, 2014.

J. Arcile, R. Devillers, and H. Klaudel, VerifCar: a framework for modeling and model checking communicating autonomous vehicles. Autonomous agents and multi-agent systems, vol.33, pp.353-381, 2019.
URL : https://hal.archives-ouvertes.fr/hal-02133680

M. Behrisch, L. Bieker, J. Erdmann, and D. Krajzewicz, SUMO-simulation of urban mobility: an overview, The Third International Conference on Advances in System Simulation. ThinkMind, 2011.

A. Ben-mansour, M. Naija, and S. Ben-ahmed, A MARTE-Based Design Pattern for Adaptive Real-Time Embedded Systems, Proceedings of the 14th International Conference on Evaluation of Novel Approaches to Software Engineering, pp.242-248, 2019.

B. Bohrer, Y. K. Tan, S. Mitsch, A. Sogokon, and A. Platzer, A Formal Safety Net for Waypoint-Following in Ground Robots, IEEE Robotics and Automation Letters, vol.4, issue.3, pp.2910-2917, 2019.

Q. Chao, X. Jin, H. W. Huang, S. Foong, L. F. Yu et al., Force-based heterogeneous traffic simulation for autonomous vehicle testing, 2019 International Conference on Robotics and Automation (ICRA), pp.8298-8304, 2019.

M. U. Iftikhar and D. Weyns, Activforms: Active formal models for self-adaptation, Proceedings of the 9th International Symposium on Software Engineering for Adaptive and Self-Managing Systems, pp.125-134, 2014.

E. Jharko, Formalizing the Safety Functions to Assure the Software Quality of NPP Safety Important Systems, Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics, vol.2, pp.637-644, 2019.

Y. H. Kacem, A. Mahfoudhi, A. Magdich, C. Mraidha, and W. Karamti, Using mde and priority time petri nets for the schedulability analysis of embedded systems modeled by uml activity diagrams, 19 th International Conference and, pp.316-323, 2012.

M. Kamali, L. A. Dennis, O. Mcaree, M. Fisher, and S. M. Veres, Formal verification of autonomous vehicle platooning, Science of computer programming, vol.148, pp.88-106, 2017.

O. Karoui, M. Khalgui, A. Koubâa, E. Guerfala, Z. Li et al., Dual mode for vehicular platoon safety: Simulation and formal verification, Information Sciences, vol.402, pp.216-232, 2017.

L. Liebenwein, W. Schwarting, C. I. Vasile, J. Decastro, J. Alonso-mora et al., Compositional and contract-based verification for autonomous driving on road networks, Robotics Research, pp.163-181, 2020.

D. Makartetskiy, G. Marchetto, R. Sisto, and . Valenza, User-friendly) formal requirements verification in the context of ISO26262. Engineering Science and Technology, an International Journal, 2019.

A. W. Marshall and I. Olkin, A family of bivariate distributions generated by the bivariate Bernoulli distribution, Journal of the American Statistical Association, vol.80, issue.390, pp.332-338, 1985.

M. Naija and S. B. Ahmed, A New MARTE Extension to Address Adaptation Mechanisms in Scheduling View, International Conference on Evaluation of Novel Approaches to Software Engineering, pp.27-43, 2016.

M. Naija, S. B. Ahmed, and J. M. Bruel, New schedulability analysis for real-time systems based on MDE and petri nets model at early design stages, 10th International Joint Conference on Software Technologies (ICSOFT), vol.1, pp.1-9, 2015.

M. Niang, A. Philippot, F. Gellot, R. Coupat, B. Riera et al., A UML Profile for MARTE: Modeling and Analysis of Real-Time Embedded systems, Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics, vol.1, pp.567-574, 2008.

M. Rausch and H. M. Hanisch, Net condition/event systems with multiple condition outputs, Proceedings 1995 INRIA/IEEE Symposium on Emerging Technologies and Factory Automation. ETFA'95, vol.1, pp.592-600, 1995.

W. Schwarting, J. Alonso-mora, and D. Rus, Planning and decision-making for autonomous vehicles, Robotics, and Autonomous Systems, 2018.

, Tornado Mobility FUI Project

. V. Vyatkin, Modeling and verification of discrete control systems, 2007.

N. Yang, H. Yu, H. Sun, and Z. Qian, Mapping uml activity diagrams to analyzable petri net models, 10th International Conference on Quality Software, pp.369-372, 2010.

J. Zhang, H. J. Goldsby, and B. H. Cheng, Modular verification of dynamically adaptive systems, Proceedings of the 8th ACM international conference on Aspect-oriented software development pp, pp.161-172, 2009.

J. Zhang, M. Khalgui, Z. Li, O. Mosbahi, and A. M. Al-ahmari, R-TNCES: A novel formalism for reconfigurable discrete event control systems, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol.43, issue.4, pp.757-772, 2013.