Model-based testing of robots with NMmodelErnits, Juhan-Peep; Veanes, Margus; Helander, JohannesTESTCOM/FATES 2008 : Tokyo, Japan, June 12-13, 2008 : short papers2008 / p. 40-49 https://www.researchgate.net/publication/228824559_Model-Based_Testing_of_Robots_with_NModel