# Mission Specification Patterns for Mobile Robots: Providing Support for Quantitative Properties

> Research article (IEEE Transactions on Software Engineering, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4313291141](https://www.wikidata.org/wiki/openalex:W4313291141)  
**Source**: https://4ort.xyz/entity/mission-specification-patterns-for-mobile-robots-providing-support-for-quantitative-properties