@inproceedings{inproceedings104d3ecf,
title   = {Developing an ROV software control architecture: a formal specification approach},
author = {Assis, Fabio Henrique de and Takase, Fábio Kawaoka and Maruyama, Newton and Miyagi, Paulo Eigi},
year = {2012},
doi = {10.1109/IECON.2012.6389402},
publisher = {IEEE},
booktitle   = {Annual Conference of the IEEE Industrial Electronics Society - IECON 2012}
}