Ralph-Johan Back Cristina Cerschi Seceleanu Contracts and Games in Controller Synthesis for Discrete Systems. 307-315 2004 conf/ecbs/2004 ECBS https://doi.org/10.1109/ECBS.2004.1316713 https://doi.ieeecomputersociety.org/10.1109/ECBS.2004.1316713 db/conf/ecbs/ecbs2004.html#BackS04