@conference{KemZha20A,
  title = {Embedding Online Runtime Verification for Fault Disambiguation on Robonaut2},
  booktitle = {Proceedings of the International Conference on Formal Modeling and Analysis of Timed Systems (FORMATS)},
  year = {2020},
  month = sep,
  author = {Kempa, Brian and Zhang, Pei and Jones, Phillip and Zambreno, Joseph and Rozier, Kristin Yvonne}
}