Tractable Goal Selection for Embedded Systems with Oversubscribed Resources. Rabideau, G., Chien, S., & McLaren, D. Journal of Aerospace Computing Information, and Communication (JACIC), 8 (5):151–169, 2011.
bibtex   
@article{rabideau-chien-mclaren-2011,
	title        = {Tractable Goal Selection for Embedded Systems with Oversubscribed Resources},
	author       = {G. Rabideau and S. Chien and D. McLaren},
	year         = 2011,
	journal      = {Journal of Aerospace Computing Information, and Communication (JACIC)},
	volume       = {8 (5)},
	pages        = {151--169}
}

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