Paul Caspi Albert Benveniste Roberto Lublinerman Stavros Tripakis Actors without Directors: A Kahnian View of Heterogeneous Systems. 46-60 2009 HSCC http://dx.doi.org/10.1007/978-3-642-00602-9_4 conf/hybrid/2009 db/conf/hybrid/hscc2009.html#CaspiBLT09