A Kleene Theorem for Timed Automata. Asarin, E., Caspi, P., & Maler, O. In Proceedings of Logic in Computer Science (LICS), pages 160-171, 1997.
A Kleene Theorem for Timed Automata [link]Paper  bibtex   
@inproceedings{ dblp4196237,
  title = {A Kleene Theorem for Timed Automata},
  author = {Eugene Asarin and Paul Caspi and Oded Maler},
  author_short = {Asarin, E. and Caspi, P. and Maler, O.},
  bibtype = {inproceedings},
  type = {inproceedings},
  year = {1997},
  key = {dblp4196237},
  id = {dblp4196237},
  biburl = {http://www.dblp.org/rec/bibtex/conf/lics/AsarinCM97},
  url = {http://dx.doi.org/10.1109/LICS.1997.614944},
  conference = {LICS},
  pages = {160-171},
  text = {LICS 1997:160-171},
  booktitle = {Proceedings of Logic in Computer Science (LICS)}
}

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