by Theo Verelst
To take most recent book I read years ago on the subject, I'll summarize some parts of [koomen]'s notation (see below).
See also process algebra
References:
C.A.R. Hoare Communicating Sequential Processes Pren.H. '85.
Robin Milner A Calculus of Communicating Systems Lecture notes in computer science 92, Springer Verlag '80.
C.J. Koomen, The Design of Communicating Systems A System Engineering Approach, Kluwer Ac. Pr. 91'.