Anders Hessel Kim Guldstrand Larsen Brian Nielsen Paul Pettersson Arne Skou Time-Optimal Real-Time Test Case Generation Using Uppaal. 114-130 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2931&spage=114 2003 conf/fates/2003 FATES db/conf/fates/fates2003.html#HesselLNPS03