Reference:

J. Esparza and S. Schwoon. A BDD-based model checker for recursive programs. In Proc. of CAV'01, number 2102 in Lecture Notes in Computer Science, pages 324–336. Springer-Verlag, 2001.

Suggested BibTeX entry:

@inproceedings{ES01,
    author = {J. Esparza and S. Schwoon},
    booktitle = {Proc. of CAV'01},
    number = {2102},
    pages = {324--336},
    publisher = {{Springer-Verlag}},
    series = {{Lecture Notes in Computer Science}},
    title = {A {BDD}-based Model Checker for Recursive Programs},
    year = {2001}
}