For citations:

Staroletov S.M., Amosov M.S., Shulga K.M. Designing robust quadcopter software based on a real-time partitioned operating system and formal verification techniques. Proceedings of the Institute for System Programming of the RAS (Proceedings of ISP RAS). 2019;31(4):39-60. https://doi.org/10.15514/ISPRAS-2019-31(4)-3