Hierarchical Modeling and Analysis of Embedded Systems,

R. Alur, T. Dang, J. Esposito, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, “Hierarchical Modeling and Analysis of Embedded Systems,” Proceedings of the IEEE, vol. 91, iss. 1, 2003.