David Harel, Hillel Kugler. The Rhapsody Semantics of Statecharts (or, On the Executable Core of the UML) - Preliminary Version. In Hartmut Ehrig, Werner Damm, Jörg Desel, Martin Große-Rhode, Wolfgang Reif, Eckehard Schnieder, Engelbert Westkämper, editors, Integration of Software Specification Techniques for Applications in Engineering, Priority Program SoftSpez of the German Research Foundation (DFG), Final Report. Volume 3147 of Lecture Notes in Computer Science, pages 325-354, Springer, 2004. [doi]
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