Asynchronous automata are parallel compositions of finite-state processes synchronizing over shared variables. A deep theorem due to Zielonka says that every regular trace language can be represented by a deterministic asynchronous automaton. In this paper we improve the construction, in that the size of the obtained asynchronous automaton is polynomial in the size of a given DFA and simply exponential in the number of processes. We show that our construction is optimal within the class of automata produced by Zielonka-type constructions. In particular, we provide the first non trivial lower bound on the size of asynchronous automata.
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