The work on this package is partially supported by an Intel grant for development of undergraduate robotics laboratories.
Internal data representation of several software modules (ASTER, LOTUS, and DUAL) is based on the state-of-the-art Binary Decision Diagram package BuDDy, Release 1.7, by Jorn Lind-Nielsen, Department of Information Technology, Technical University of Denmark.
Finally, we acknowledge the valuable contribution of Anatoly Chebotarev, Glushkov Institute of Cybernetics, Kiev, Ukraine, whose declarative language L for FSM specification and algorithms for FSM synthesis and verification inspired us to develop high-level synthesis system DUAL.