1. An STPA-based formal composition framework for trustworthy autonomous maritime systems. (April 2021) Authors: Dghaym, Dana; Hoang, Thai Son; Turnock, Stephen R.; Butler, Michael; Downes, Jon; Pritchard, Ben Journal: Safety science Issue: Volume 136(2021) Page Start: Record Type: Journal Article View Content: Available online (eLD content is only available in our Reading Rooms) ↗