  Timed automata have been introduced by Rajeev Alur and David Dill in the
early 90's. In the last decades, timed automata have become the de facto model
for the verification of real-time systems. Algorithms for timed automata are
based on the traversal of their state-space using zones as a symbolic
representation. Since the state-space is infinite, termination relies on finite
abstractions that yield a finite representation of the reachable states.
  The first solution to get finite abstractions was based on extrapolations of
zones, and has been implemented in the industry-strength tool Uppaal. A
different approach based on simulations between zones has emerged in the last
ten years, and has been implemented in the fully open source tool TChecker. The
simulation-based approach has led to new efficient algorithms for reachability
and liveness in timed automata, and has also been extended to richer models
like weighted timed automata, and timed automata with diagonal constraints and
updates.
  In this article, we survey the extrapolation and simulation techniques, and
discuss some open challenges for the future.
