Rajeev Alur Thao Dang Franjo Ivancic Reachability Analysis of Hybrid Systems via Predicate Abstraction. 35-48 2002 conf/hybrid/2002 HSCC http://link.springer.de/link/service/series/0558/bibs/2289/22890035.htm db/conf/hybrid/hscc2002.html#AlurDI02