Reference:

Nikola Benes, Ivana Cerna, and Jan Kretinsky. Modal transition systems: Composition and LTL model checking. In Bultan and Hsiung, pages 228–242.

Suggested BibTeX entry:

@inproceedings{DBLP:confatvaBenesCK11,
    author = {Nikola Benes and Ivana Cerna and Jan Kretinsky},
    booktitle = {ATVA},
    editor = {Tevfik Bultan and Pao-Ann Hsiung},
    pages = {228-242},
    publisher = {Springer},
    series = {Lecture Notes in Computer Science},
    title = {Modal Transition Systems: Composition and {LTL} Model Checking},
    volume = {6996},
    year = {2011}
}