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Schlingloff, H., Heinle, W.: Relation Algebra and Modal Logics. In: Brink, C., Kahl, W., and Schmidt, G. Relational Methods in Computer Science. pp. 20-89. Springer (1998).
Heinle, W., Schlingloff, B.-H.: Relational semantics for modal logics. In: Rodosek, R. Proceedings of Verification in New Orientations. pp. 104-131. University of Maribor (1995).