Main Papers on Esterel
A survey paper describing all aspects of Esterel:

The Foundations of Esterel
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Gérard Berry.
To appear in
Proof, Language and Interaction: Essays in Honour of Robin Milner,
G. Plotkin, C. Stirling and M. Tofte, editors,
MIT Press, 1998.
The Esterel primer. Read it if you don't know the language, and use it
as an informal reference manual.
A draft book presenting the constructive semantics of Esterel used in
the Esterel v5 compiler and the related mathematics; serves as a
reference for Esterel:
The use of Esterel in a real large design of a DSP at Texas Instruments.

Using Esterel and Formal Methods to Increase the Confidence in
the Functional Validation of a Commercial DSP
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Laurent Arditi et al., Texas Instrument, Villeneuve
Loubet, France
Amar Bouali et al., CMA/INRIA SophiaAntipolis, France
In proceedings of ERCIM workshop on Formal Methods for
Industrial Critical Systems, Trento, Italy, 1999..
A distributed implementation of Esterel in Polis, based on the
Constructive Semantics:

An Implementation of Constructive Synchronous Programs in POLIS
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Gérard Berry, Ellen Sentovich (Cadence Berkeley Laboratories).
Submitted for publication, November 1998.
How to analyze cyclic circuits for full constructive causality in
Esterel v5:

Constructive Analysis of Cyclic Circuits
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T. Shiple, Gérard Berry, H. Touati.
Proc. International Design and Testing Conference, Paris, 1996.
How to optimize the generated circuits:

Latch Optimization in Circuits Generated from
HighLevel Descriptions
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H. Toma, E. Sentovich, and G. Berry
Proc. International Conf. on ComputerAided Design ICCAD'96,

Optimized Controller Synthesis Using Esterel
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H. Touati, G. Berry.
Proc. International Workshop on Logic Synthesis, Lake Tahoe, 1993.
A general presentation of synchronous languages:

Synchronous Programming of Reactive Systems.
N. Halbwachs.
Kluwer, 1993.
A general discussion of synchrony vs. asynchrony in realtime systems:

RealTime Programming: General Purpose or SpecialPurpose Languages
Gérard Berry.
Information Processing 89, pp 1117, Elsevier Science Publishers, 1989.
The first complete paper on the language design.

The Esterel Synchronous Programming Language: Design, Semantics, Implementation
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Gérard Berry, Georges Gonthier.
Science of Computer Programming vol. 19, n°2, pp 87152, 1992.
A general survey of the language:

The Esterel Language
Frédéric Boussinot, Robert De Simone.
Another Look at Real Time Programming, Proc. of the IEEE,
vol. 79, pp 12931304, 1991.
A general discussion of preemption primitives for synchronous programs:

Preemption and Concurrency
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Gérard Berry.
Proc. FSTTCS 93, Springer Verlag, lectures notes in
Computer Science 761, 1993.
An attempt at unifying Esterel and CSP:

Communicating Reactive Processes
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Gérard Berry, S. Ramesh,
R.K. Shyamasundar.
Proc. 20th ACM Conf. on Principles of Programming Languages, Charleston,
Virginia, 1993.