M. Oliveira, A. Fernandes, S. Campos, and A. Zuquim.
" Guaranteeing Fault Tolerance through Scheduling on a CAN Bus", in <em>Proceedings of the 4th Workshop on Testing and Fault Tolerance</em>, Natal/RN, 2003, pp. 43-50, doi: <a href="https://doi.org/10.5753/wtf.2003.23389">https://doi.org/10.5753/wtf.2003.23389</a>.