- Specification's authors: Geoffrey Biggs, Noriaki Ando
- Original paper: Biggs, Geoffrey, and Noriaki Ando. A formal specification of the RT-Middleware data transfer protocol. Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), IEEE International Conference on. IEEE, 2016.
- Extended modules: Int, Seq
- Computation models: no faults
- Some properties checked with TLC: deadlock
- Only PDF files