Gerd Behrmann Kim Guldstrand Larsen Jacob Illum Rasmussen Optimal scheduling using priced timed automata. 34-40 2005 32 SIGMETRICS Performance Evaluation Review 4 http://doi.acm.org/10.1145/1059816.1059823 db/journals/sigmetrics/sigmetrics32.html#BehrmannLR05