Krishnendu Chatterjee Thomas A. Henzinger Vinayak S. Prabhu Timed Parity Games: Complexity and Robustness. 124-140 2008 FORMATS http://dx.doi.org/10.1007/978-3-540-85778-5_10 conf/formats/2008 db/conf/formats/formats2008.html#ChatterjeeHP08