The ProLiCES approach to develop product lines for safety-critical embedded systems and its application to the unmanned aerial vehicle domain - Braga, Rosana Teresinha Vaccare; Branco, Kalinka Regina Lucas Jaquie Castelo; Trindade Junior, Onofre; Masiero, Paulo Cesar; Neris, Luciano de Oliveira; Becker, Martin (CLEI Electronic Journal, 2012)