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Vineet Gupta, Thomas A. Henzinger, Radha Jagadeesan. Robust Timed Automata. In Oded Maler, editor, Hybrid and Real-Time Systems, International Workshop. HART 97, Grenoble, France, March 26-28, 1997, Proceedings. Volume 1201 of Lecture Notes in Computer Science, pages 331-345, Springer, 1997.

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