Interactive formal specification for efficient preparation of intelligent automation systems - Dahl, Martin; Larsen, Christian; Erös, Endre; Bengtsson, Kristofer; Fabian, Martin; Falkman, Petter (UNICORN - Sustainable, Peaceful and Efficient Robotic Refuse Handling Virtuell beredning av operationer för fordonsunderhåll, UNIFICATION CIRP Journal of Manufacturing Science and Technology, 2022)