Georgios E. Fainekos Antoine Girard George J. Pappas Hierarchical Synthesis of Hybrid Controllers from Temporal Logic Specifications. 203-216 2007 conf/hybrid/2007 HSCC http://dx.doi.org/10.1007/978-3-540-71493-4_18 db/conf/hybrid/hscc2007.html#FainekosGP07