Borzoo Bonakdarpour Sandeep S. Kulkarni On the Complexity of Synthesizing Relaxed and Graceful Bounded-Time 2-Phase Recovery. 660-675 2009 FM http://dx.doi.org/10.1007/978-3-642-05089-3_42 conf/fm/2009 db/conf/fm/fm2009.html#BonakdarpourK09