Edmund M. Clarke Daniel Kroening Joël Ouaknine Ofer Strichman Completeness and Complexity of Bounded Model Checking. 85-96 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2937&spage=85 2004 conf/vmcai/2004 VMCAI db/conf/vmcai/vmcai2004.html#ClarkeKOS04