Deciding branching time logic: A triple exponential decision procedure for CTL

Allen Emerson, E., & Prasad Sistla, A. (1984). Deciding branching time logic: A triple exponential decision procedure for CTL. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 164 LNCS, pp. 176–192). Springer Verlag. https://doi.org/10.1007/3-540-12896-4_363