# Multi-Layered Safety Architecture of Autonomous Systems: Formalising Coordination Perspective

> Research article (2019 IEEE 19th International Symposium on High Assurance Systems Engineering (HASE), 2019) · cited 12× · AI/ML

**Wikidata**: [openalex:W2934108497](https://www.wikidata.org/wiki/openalex:W2934108497)  
**Source**: https://4ort.xyz/entity/multi-layered-safety-architecture-of-autonomous-systems-formalising-coordination-perspective