Service-oriented architectures for complex safety-critical embedded systems: a case study on UAVs - Rodrigues, Douglas; Estrella, Júlio Cezar; Vieira, Marco; Corrêa, Mário; Camargo Júnior, João Batista; Branco, Kalinka Regina Lucas Jaquie Castelo; Trindade Junior, Onofre (Brazilian Conference on Critical Embedded Systems - CBSEC, 2011)