Ulrich Furbach Jan Murray Falk Schmidsberger Frieder Stolzenburg Hybrid Multiagent Systems with Timed Synchronization - Specification and Model Checking. 205-220 2007 PROMAS http://dx.doi.org/10.1007/978-3-540-79043-3_13 conf/promas/2007 db/conf/promas/promas2007.html#FurbachMSS07