William Chan Richard J. Anderson Paul Beame David H. Jones David Notkin William E. Warner Decoupling Synchronization from Local Control for Efficient Symbolic Model Checking of Statecharts. 142-151 1999 ICSE http://portal.acm.org/citation.cfm?id=302405.302460 db/conf/icse/icse99.html#ChanABJNW99