Mardavij Roozbehani Eric Feron Alexandre Megretski Modeling, Optimization and Computation for Software Verification. 606-622 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3414&spage=606 2005 conf/hybrid/2005 HSCC db/conf/hybrid/hscc2005.html#RoozbehaniFM05