Ansuman Banerjee Pallab Dasgupta P. P. Chakrabarti Auxiliary state machines + context-triggered properties in verification. 2008 13 ACM Trans. Design Autom. Electr. Syst. 4 http://doi.acm.org/10.1145/1391962.1391970 db/journals/todaes/todaes13.html#BanerjeeDC08