Kevin Lano David Clark Kelly Androutsopoulos Pauline Kan Invariant-Based Synthesis of Fault-Tolerant Systems. 46-57 http://link.springer.de/link/service/series/0558/bibs/1926/19260046.htm 2000 conf/ftrtft/2000 FTRTFT db/conf/ftrtft/ftrtft2000.html#LanoCAK00