@Inproceedings{EPTCS355.4,
  author    = {Lehmann, Sascha and Rogalla, Antje and Neidhardt, Maximilian and Reinecke, Anton and Schlaefer, Alexander and Schupp, Sibylle},
  year      = {2022},
  title     = {Modeling R$^3$ Needle Steering in Uppaal},
  editor    = {Dubslaff, Clemens and Luttik, Bas},
  booktitle = {{\rm Proceedings Fifth Workshop on}
               Models for Formal Analysis of Real Systems,
               {\rm Munich, Germany, 2nd April 2022}},
  series    = {Electronic Proceedings in Theoretical Computer Science},
  volume    = {355},
  publisher = {Open Publishing Association},
  pages     = {40-59},
  doi       = {10.4204/EPTCS.355.4},
}