@article {j:whitsitt2012jacic, title = {Modeling Autonomous Systems}, journal = {AIAA Journal of Aerospace Information Systems}, volume = {10}, year = {2013}, pages = {396-413}, doi = {10.2514/1.I010039}, url = {http://dx.doi.org/10.2514/1.I010039}, author = {Sean Whitsitt and Jonathan Sprinkle} }