Tobias Geyer Fabio Danilo Torrisi Manfred Morari Efficient Mode Enumeration of Compositional Hybrid Systems. 216-232 2003 conf/hybrid/2003 HSCC http://link.springer.de/link/service/series/0558/bibs/2623/26230216.htm db/conf/hybrid/hscc2003.html#GeyerTM03