Laurent Doyen. Top-Down Complementation of Automata on Finite Trees. Information Processing Letters 187:106499, Elsevier, 2025. [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Stochastic Processes with Expected Stopping Time. Logical Methods in Coputer Science (LMCS), to appear. [ pdf]
Laurent Doyen and Thomas Soullard. Regular Games with Imperfect Information Are Not That Regular. Proceedings of the 35th International Conference on Concurrency Theory (CONCUR), LIPIcs, Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, 2024, 23:1-23:19. [ pdf]
Laurent Doyen, Pranshu Gaba, and Shibashis Guha. Stochastic Window Mean-Payoff Games. Proceedings of the 27th International Conference on Foundations of Software Science and Computation Structures (FoSSaCS), Lecture Notes in Computer Science 14574, Springer, 2024, pp. 34-54. [ pdf]
Laurent Doyen. Stochastic Games with Synchronization Objectives. Journal of the ACM 70(3) 23:1-35, 2023. [ pdf]
Dietmar Berwanger and Laurent Doyen. Observation and Distinction. Representing Information in Infinite Games. Theory of Computing Systems (ToCS) 67(1), 2023, Springer, pp. 4-27. [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Graph Planning with Expected Finite Horizon. Journal of Computer and System Sciences (JCSS) 129, Elsevier, 2022, pp. 1-21. [ pdf]
Laurent Doyen. Stochastic Games with Synchronizing Objectives. Proceedings of the 37th Annual Symposium on Logic in Computer Science (LICS), IEEE Computer Society Press, 2022. [ pdf] [Technical report]
Laurent Doyen and Marie van den Bogaard. Bounds for Synchronizing Markov Decision Processes. Proceedings of the 17th International Computer Science Symposium in Russia (CSR), Lecture Notes in Computer Science 13296, Springer, 2022, pp. 133-151. [ pdf] [Technical report]
Krishnendu Chatterjee and Laurent Doyen. Stochastic Processes with Expected Stopping Time. Proceedings of the 36th Annual Symposium on Logic in Computer Science (LICS), IEEE Computer Society Press, 2021. [ pdf] [Technical report]
Dietmar Berwanger and Laurent Doyen. Observation and Distinction. Representing Information in Infinite Games. Proceedings of the 37th Symposium on Theoretical Aspects of Computer Science (STACS), LIPIcs, Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, 2020, 48:1-48:17. [ pdf] [Full version]
Krishnendu Chatterjee and Laurent Doyen. Graph Planning with Expected Finite Horizon. Proceedings of the 34th Annual Symposium on Logic in Computer Science (LICS), IEEE Computer Society Press, 2019. [ pdf] [Technical report]
Laurent Doyen, Thierry Massart, and Mahsa Shirmohammadi. The Complexity of Synchronizing Markov Decision Processes. Journal of Computer and System Sciences (JCSS) 100, Elsevier, 2019, pp. 96-129. [ pdf]
Laurent Doyen, Goran Frehse, George J. Pappas, and André Platzer. Verification of Hybrid Systems. Handbook of Model Checking, Springer, 2018, pp. 1047-1110.
Laurent Doyen. The Multiple Dimensions of Mean-Payoff Games. Proceedings of the 11th International Workshop on Reachability Problems (RP), Lecture Notes in Computer Science 10506, Springer, 2017, pp. 1-8. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. The Cost of Exactness in Quantitative Reachability. Models, Algorithms, Logics and Tools - Essays Dedicated to Kim G. Larsen on the Occasion of His 60th Birthday, Lecture Notes in Computer Science 10460, Springer, 2017, pp. 367-381. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, Emmanuel Filiot, and Jean-François Raskin. Doomsday Equilibria for Omega-Regular Games. Information and Computation 254, Elsevier, 2017, pp. 296-315. [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Computation Tree Logic for Synchronization Properties. Proceedings of the 43rd International Colloquium on Automata, Languages and Programming (ICALP), LIPIcs, Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, 2016, 98:1-98:14. [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Perfect-Information Stochastic Games with Generalized Mean-Payoff Objectives. Proceedings of the 31st Annual Symposium on Logic in Computer Science (LICS), IEEE Computer Society Press, 2016, pp. 247-256. [ pdf] [Technical report]
Krishnendu Chatterjee, Laurent Doyen, Hugo Gimbert, and Thomas A. Henzinger. Randomness for Free. Information and Computation 245, Elsevier, 2015, pp. 3-16. [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Moshe Y. Vardi. The Complexity of Synthesis from Probabilistic Components. Proceedings of the 42nd International Colloquium on Automata, Languages and Programming (ICALP), Lecture Notes in Computer Science 9135, Springer, 2015, pp. 108-120. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, Mickael Randour, and Jean-François Raskin. Looking at Mean-Payoff and Total-Payoff Through Windows. Information and Computation 242, Elsevier, 2015, pp. 25-52. [ pdf]
Yaron Velner, Krishnendu Chatterjee, Laurent Doyen, Thomas A. Henzinger, Alexander Rabinovich, and Jean-François Raskin. The Complexity of Multi-Mean-Payoff and Multi-Energy Games. Information and Computation 241, Elsevier, 2015, pp. 177-196. [ ps] [ pdf]
Laurent Doyen, Line Juhl, Kim G. Larsen, Nicolas Markey, and Mahsa Shirmohammadi. Synchronizing Words for Weighted and Timed Automata. Proceedings of the 34h International Conference on Foundations of Software Technology and Theoretical Computer Science (FSTTCS), LIPIcs, Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, 2014, pp. 121-132. [ pdf]
Laurent Doyen, Thierry Massart, and Mahsa Shirmohammadi. Robust Synchronization in Markov Decision Processes. Proceedings of the 25th International Conference on Concurrency Theory (CONCUR), Lecture Notes in Computer Science 8704, Springer, 2014, pp. 234-248. [ ps] [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Games with a Weak Adversary. Proceedings of the 41st International Colloquium on Automata, Languages and Programming (ICALP), Lecture Notes in Computer Science 8573, Springer, 2014, pp. 110-121. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee and Laurent Doyen. Partial-Observation Stochastic Games: How to Win when Belief Fails. ACM Transactions on Computational Logic 15:2, 2014. [ ps] [ pdf]
Laurent Doyen, Thierry Massart, and Mahsa Shirmohammadi. Limit Synchronization in Markov Decision Processes. Proceedings of the 17th International Conference on Foundations of Software Science and Computation Structures (FoSSaCS), Lecture Notes in Computer Science 8412, Springer, 2014, pp. 58-72. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, Hugo Gimbert, and Youssouf Oualhadj. Perfect-Information Stochastic Mean-Payoff Parity Games. Proceedings of the 17th International Conference on Foundations of Software Science and Computation Structures (FoSSaCS), Lecture Notes in Computer Science 8412, Springer, 2014, pp. 210-225. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee, Laurent Doyen, Sumit Nain, and Moshe Y. Vardi. The Complexity of Partial-Observation Stochastic Parity Games with Finite-Memory Strategies. Proceedings of the 17th International Conference on Foundations of Software Science and Computation Structures (FoSSaCS), Lecture Notes in Computer Science 8412, Springer, 2014, pp. 242-257. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee, Laurent Doyen, Emmanuel Filiot, and Jean-François Raskin. Doomsday Equilibria for Omega-Regular Games. Proceedings of the 15th International Conference on Verification, Model Checking, and Abstract Interpretation (VMCAI), Lecture Notes in Computer Science 8318, Springer, 2014, pp. 78-97. [ ps] [ pdf] [Journal version (I&C 2017)]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. A Survey of Partial-Observation Stochastic Parity Games. Formal Methods in System Design 43(2): 268-284, Springer, 2013. [ ps] [ pdf]
Thomas Brihaye, Laurent Doyen, Gilles Geeraerts, Joël Ouaknine, Jean-François Raskin, and James Worrell. Time-Bounded Reachability for Monotonic Hybrid Automata: Complexity and Fixed Points. Proceedings of the 11th International Symposium on Automated Technology for Verification and Analysis (ATVA), Lecture Notes in Computer Science 8172, Springer, 2013, pp. 55-70. [ pdf]
Krishnendu Chatterjee, Laurent Doyen, Mickael Randour, and Jean-François Raskin. Looking at Mean-Payoff and Total-Payoff through Windows. Proceedings of the 11th International Symposium on Automated Technology for Verification and Analysis (ATVA), Lecture Notes in Computer Science 8172, Springer, 2013, pp. 118-132. [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Energy Parity Games. Theoretical Computer Science 458(2): 49-60, Elsevier, 2012. [ ps] [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Partial-Observation Stochastic Games: How to Win when Belief Fails. Proceedings of the 27th Annual Symposium on Logic in Computer Science (LICS), IEEE Computer Society Press, 2012, pp. 175-184. [ ps] [ pdf] [Journal version (ToCL 2014)] [Technical report]
Laurent Doyen. Games and Automata: From Boolean to Quantitative Verification. Habilitation Thesis (HDR), École Normale Supérieure de Cachan, 2012. [ ps] [ pdf]
Thomas Brihaye, Véronique Bruyère, Laurent Doyen, Marc Ducobu, and Jean-François Raskin. Antichain-based QBF Solving. Proceedings of the 9th International Symposium on Automated Technology for Verification and Analysis (ATVA), Lecture Notes in Computer Science 6996, Springer, 2011, pp. 183-197. [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Games and Markov Decision Processes with Mean-payoff Parity and Energy Parity Objectives. Post-Proceedings of the 7th Doctoral Workshop on Mathematical and Engineering Methods in Computer Science (MEMICS), Lecture Notes in Computer Science 7119, Springer, 2011. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Rohit Singh. On Memoryless Quantitative Objectives. Proceedings of the 18th International Symposium on Fundamentals of Computation Theory (FCT), Lecture Notes in Computer Science 6914, Springer, 2011, pp. 148-159. [ ps] [ pdf] [Technical report]
Laurent Doyen, Thierry Massart, and Mahsa Shirmohammadi. Infinite Synchronizing Words for Probabilistic Automata. Proceedings of the 36th International Symposium on Mathematical Foundations of Computer Science (MFCS), Lecture Notes in Computer Science 6907, Springer, 2011, pp. 278-289. [ ps] [ pdf] [Erratum]
Krishnendu Chatterjee and Laurent Doyen. Energy and Mean-Payoff Parity Markov Decision Processes. Proceedings of the 36th International Symposium on Mathematical Foundations of Computer Science (MFCS), Lecture Notes in Computer Science 6907, Springer, 2011, pp. 206-218. [ ps] [ pdf] [Technical report] [Warning! This paper contains a bug (Lemma 2 & Theorem 1) explained here]
Thomas Brihaye, Laurent Doyen, Gilles Geeraerts, Joël Ouaknine, Jean-François Raskin, and James Worrell. On Reachability for Hybrid Automata over Bounded Time. Proceedings of the 38th International Colloquium on Automata, Languages and Programming (ICALP), Lecture Notes in Computer Science 6756 , Springer, 2011, pp. 416-427. [ ps] [ pdf] [Technical report]
Luboš Brim, Jakub Chaloupka, Laurent Doyen, Raffaella Gentilini, and Jean-François Raskin. Faster Algorithms for Mean-Payoff Games. Formal Methods in System Design 38(2):97-118, Springer, 2011. [ ps] [ pdf]
Laurent Doyen, Thierry Massart, and Mahsa Shirmohammadi. Synchronizing Objectives for Markov Decision Processes. Proceedings of International Workshop on Interactions, Games and Protocols (iWIGP), Electronic Proceedings in Theoretical Computer Science 50, 2011, pp. 61-75. [ pdf]
Laurent Doyen and Jean-François Raskin. Games with Imperfect Information: Theory and Algorithms. Lectures in Game Theory for Computer Scientists. Cambridge University Press, 2011, pp. 185-212. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, Thomas A. Henzinger, and Jean-François Raskin. Generalized Mean-payoff and Energy Games. Proceedings of the 30th International Conference on Foundations of Software Technology and Theoretical Computer Science (FSTTCS), Dagstuhl Seminar Proceedings 08008 Internationales Begegnungs- und Forschungszentrum fuer Informatik (IBFI), 2010. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee and Laurent Doyen. The Complexity of Partial-Observation Parity Games. Proceedings of the 17th International Conference on Logic for Programming, Artificial Intelligence, and Reasoning (LPAR), Lecture Notes in Computer Science 6397, Springer, 2010, pp. 1-14. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. Expressiveness and Closure Properties for Quantitative Languages. Logical Methods in Computer Science 6(3:10), 2010. [ ps] [ pdf]
Dietmar Berwanger, Krishnendu Chatterjee, Martin De Wulf, Laurent Doyen, and Thomas A. Henzinger. Strategy construction for parity games with imperfect information. Information and Computation 208:10, Elsevier, 2010, pp. 1206-1220. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. Quantitative Languages. ACM Transactions on Computational Logic 11:4, 2010. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. Qualitative Analysis of Partially-observable Markov Decision Processes. Proceedings of the 35th International Symposium on Mathematical Foundations of Computer Science (MFCS), Lecture Notes in Computer Science 6281, Springer, 2010, pp. 258-269. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee, Laurent Doyen, Hugo Gimbert, and Thomas A. Henzinger. Randomness for Free. Proceedings of the 35th International Symposium on Mathematical Foundations of Computer Science (MFCS), Lecture Notes in Computer Science 6281, Springer, 2010, pp. 246-257. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee, Laurent Doyen, Herbert Edelsbrunner, Thomas A. Henzinger, and Philippe Rannou. Mean-Payoff Automaton Expressions. Proceedings of the 21st International Conference on Concurrency Theory (CONCUR), Lecture Notes in Computer Science 6269, Springer, 2010, pp. 269-283. [ ps] [ pdf] [Technical report]
Aldric Degorre, Laurent Doyen, Raffaella Gentilini, Jean-François Raskin, and Szymon Toruńczyk. Energy and Mean-Payoff Games with Imperfect Information. Proceedings of the 24th International Conference on Computer Science Logic (CSL), Lecture Notes in Computer Science 6247, Springer, 2010, pp. 260-274. [ ps] [ pdf]
Krishnendu Chatterjee and Laurent Doyen. Energy Parity Games. Proceedings of the 37th International Colloquium on Automata, Languages and Programming (ICALP), Lecture Notes in Computer Science 6199, Springer, 2010, pp. 599-610. [ ps] [ pdf] [Extended version (TCS 2012)]
Laurent Doyen, Thomas A. Henzinger, Axel Legay, and Dejan Ničković. Robustness of Sequential Circuits. Proceedings of the 10th International Conference on Application of Concurrency to System Design (ACSD), IEEE Computer Society Press, 2010, pp. 77-84. [ pdf]
Laurent Doyen and Jean-François Raskin. Antichains Algorithms for Finite Automata. Proceedings of the 16th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), Lecture Notes in Computer Science 6015, Springer, 2010, pp. 2-22. [ ps] [ pdf]
Laurent Doyen, Gilles Geeraerts, Jean-François Raskin, and Julien Reichert. Realizability of real-time logics. Proceedings of the 7th International Conference on Formal Modelling and Analysis of Timed Systems (FORMATS), Lecture Notes in Computer Science 5813, Springer, 2009, pp. 133-148. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. Alternating weighted automata. Proceedings of the 17th International Symposium on Fundamentals of Computation Theory (FCT), Lecture Notes in Computer Science 5699, Springer, 2009, pp. 3-13. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. Probabilistic weighted automata. Proceedings of the 20th International Conference on Concurrency Theory (CONCUR), Lecture Notes in Computer Science 5710, Springer, 2009, pp. 244-258. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. Expressiveness and closure properties for quantitative languages. Proceedings of the 24th Annual Symposium on Logic in Computer Science (LICS), IEEE Computer Society Press, 2009, pp.199-208. [ ps] [ pdf] [Technical report]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. A survey of stochastic games with limsup and liminf objectives. Proceedings of the 36th International Colloquium on Automata, Languages and Programming (ICALP), Lecture Notes in Computer Science 5556, Part II, Springer, 2009, pp. 1-15. [ ps] [ pdf]
Dietmar Berwanger, Krishnendu Chatterjee, Martin De Wulf, Laurent Doyen, and Thomas A. Henzinger. Alpaga: a tool for solving parity games with imperfect information. Proceedings of the 15th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), Lecture Notes in Computer Science 5505, Springer, 2009, pp. 58-61. [ ps] [ pdf] [Technical report]
Laurent Doyen and Jean-François Raskin. Antichains for the automata-based approach to model-checking. Logical Methods in Computer Science 5(1:5), 2009. [ ps] [ pdf]
Dietmar Berwanger and Laurent Doyen. On the power of imperfect information. Proceedings of the 28th International Conference on Foundations of Software Technology and Theoretical Computer Science (FSTTCS), Dagstuhl Seminar Proceedings 08004 Internationales Begegnungs- und Forschungszentrum fuer Informatik (IBFI), 2008. [ ps] [ pdf]
Laurent Doyen, Thomas A. Henzinger, Barbara Jobstmann, and Tatjana Petrov. Interface theories with component reuse. Proceedings of the 8th Annual Conference on Embedded Software (EMSOFT), ACM Press, 2008, pp. 79-88. [ ps] [ pdf] [Erratum: Definition 10 and Proof of Theorem 8.]
Martin De Wulf, Laurent Doyen, Nicolas Maquet, and Jean-François Raskin. Alaska: antichains for logic, automata and symbolic Kripke structures analysis. Proceedings of the 6th International Symposium on Automated Technology for Verification and Analysis (ATVA), Lecture Notes in Computer Science 5311, Springer, 2008, pp. 240-245. [ pdf]
Martin De Wulf, Laurent Doyen, Nicolas Markey, and Jean-François Raskin. Robust safety of timed automata. Formal Methods in System Design 33(1-3):45-84, Springer, 2008. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, and Thomas A. Henzinger. Quantitative languages. Proceedings of the 17th International Conference on Computer Science Logic (CSL), Lecture Notes in Computer Science 5213, Springer, 2008, pp. 385-400. [ ps] [ pdf] [Journal version (ToCL 2010)] [Technical report]
Dietmar Berwanger, Krishnendu Chatterjee, Laurent Doyen, Thomas A. Henzinger, and Sangram Raje. Strategy construction for parity games with imperfect information. Proceedings of the 19th International Conference on Concurrency Theory (CONCUR), Lecture Notes in Computer Science 5201, Springer, 2008, pp. 325-339. [ ps] [ pdf]
Laurent Doyen, Thomas A. Henzinger, and Jean-François Raskin. Equivalence of labeled Markov chains. International Journal of Foundations of Computer Science 19(3):549-563, World Scientific, 2008. [ ps] [ pdf]
Martin De Wulf, Laurent Doyen, Nicolas Maquet, and Jean-François Raskin. Antichains: alternative algorithms for LTL satisfiability and model-checking. Proceedings of the 14th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), Lecture Notes in Computer Science 4963, Springer, 2008, pp. 63-77. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, Thomas A. Henzinger, and Jean-François Raskin. Algorithms for omega-regular games of imperfect information. Logical Methods in Computer Science 3(3:4), 2007. [ ps] [ pdf]
Laurent Doyen. Robust parametric reachability for timed automata. Information Processing Letters 102(5):208-213, Elsevier, 2007. [ ps] [ pdf]
Laurent Doyen and Jean-François Raskin. Improved algorithms for the automata based approach to model-checking. Proceedings of the 13th International Conference on Tools and Algorithms for the Construction and Analysis of Systems (TACAS), Lecture Notes in Computer Science 4424, Springer, 2007, pp. 451-465. [ ps] [ pdf]
Krishnendu Chatterjee, Laurent Doyen, Thomas A. Henzinger, and Jean-François Raskin. Algorithms for omega-regular games of imperfect information. Proceedings of the 15th International Conference on Computer Science Logic (CSL), Lecture Notes in Computer Science 4207, Springer, 2006, pp. 287-302. [ pdf] [ ps] [Extended version (LMCS 2007)]
Laurent Doyen. Algorithmic analysis of complex semantics for timed and hybrid automata. Ph.D. Thesis, Université Libre de Bruxelles, 2006.
Martin De Wulf, Laurent Doyen, Thomas A. Henzinger, Jean-François Raskin. Antichains: a new algorithm for checking universality of finite automata. Proceedings of the 18th International Conference on Computer-Aided Verification (CAV), Lecture Notes in Computer Science 4144, Springer, 2006, pp. 17-30. [ pdf] [ ps]
Martin De Wulf, Laurent Doyen, Jean-François Raskin. A lattice theory for solving games of imperfect information. Proceedings of 9th International Workshop on Hybrid Systems: Computation and Control (HSCC), Lecture Notes in Computer Science 3927, Springer, 2006, pp. 153-168. [ pdf] [ ps]
Laurent Doyen, Thomas A. Henzinger, Jean-François Raskin. Automatic rectangular refinement of affine hybrid systems. Proceedings of the 3rd International Conference on Formal Modeling and Analysis of Timed Systems (FORMATS), Lecture Notes in Computer Science 3829, Springer, 2005, pp. 144-161. [ pdf]
Martin De Wulf, Laurent Doyen, Jean-François Raskin. Almost ASAP semantics: from timed models to timed implementations. Formal Aspects of Computing 17(3): 319-341, Springer, 2005. [ ps] [ pdf]
Martin De Wulf, Laurent Doyen, Jean-François Raskin. Systematic implementation of real-time models. Proceedings of the 13th International Symposium on Formal Methods (FM), Lecture Notes in Computer Science 3582, Springer, 2005, pp. 139-156. [ ps]
Martin De Wulf, Laurent Doyen, Nicolas Markey, Jean-François Raskin. Robustness and implementability of timed automata. Proceedings of the Joint International Conferences on Formal Modelling and Analysis of Timed Systems and Formal Techniques in Real-Time and Fault-Tolerant Systems (FORMATS-FTRTFT), Lecture Notes in Computer Science 3253, Springer, 2004, pp. 118-133. [ pdf] [ Short version - ps] [ ppt]
Martin De Wulf, Laurent Doyen, Jean-François Raskin. Almost ASAP semantics: from timed models to timed implementations. Proceedings of 7th International Workshop on Hybrid Systems: Computation and Control (HSCC), Lecture Notes in Computer Science 2993, Springer, 2004, pp. 296-310. [ ps]