Helmut Seidl. A Modal $\mu$-Calculus for Durational Transition Systems. LICS, pages 128-137, 1996.

Durational transition systems are finite transition systems where every transition is additionally equipped with a duration. We consider the problem of interpreting $\mu$-formulas over durational transition systems. In case the formula contains only operations minimum, maximum, addition, and sequencing, we show that the interpretation is not only computable but (up to a linear factor) as efficiently computable as the interpretation of $\mu$-formulas over ordinary finite transition systems.

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