@Article{LLL00,
  author =       "Livadas, Carolos and Lygeros, John and Lynch, Nancy A.",
  title =        "{High-Level Modeling and Analysis of the Traffic Alert and
                 Collision Avoidance System (TCAS)}",
  journal =      "Proceedings of the IEEE, Special Issue on Hybrid Systems:
                 Theory \& Applications",
  year =         "2000",
  volume =       "88",
  number =       "7",
  pages =        "926--948",
  month =        jul,
  url =          "http://people.csail.mit.edu/clivadas/pubs/IEEE00.pdf",
}