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A major determinant of the quality of software systems is the quality of their requirements, which should be both understandable and precise. Most requirements are written in natural language, good for understandability but lacking in precision. To make requirements precise, researchers have for years advocated the use of mathematics-based notations and methods, known as "formal". Many exist, differing in their style, scope and applicability. The present survey discusses some of the main formalarXiv:1911.02564v6 fatcat:mwsozk5m2rcjdj6whveuhx2bla