  Zielonka's theorem shows that each regular set of Mazurkiewicz traces can be
implemented as a system of synchronized processes with a distributed control
structure called asynchronous automaton. This paper gives a polynomial
algorithm for the synthesis of a non-deterministic asynchronous automaton from
a regular Mazurkiewicz trace language. This new construction is based on an
unfolding approach that improves the complexity of Zielonka's and Pighizzini's
techniques in terms of the number of states.
