@misc {IOPORT.70064255,
    author       = {Weng, Yi-Shun and Huang, Yi-Sheng and Su, Shun-Feng and Yu, Chi-Shan},
    title        = {Modelling of emergency vehicle preemption systems using statecharts},
    howpublished = {SMC, 556-561 (2011).},
    year         = {2011},
    doi          = {10.1109/ICSMC.2011.6083742},
    identifier   = {70064255},
}