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In this paper we present a Model-Based Testing approach with which we generate tests from an abstraction of a source behavioural model. We show a new algorithm that computes the abstraction as an under-approximation of the source model. Our first contribution is to combine two previous approaches proposed by Ball and Pasareanu et al. to compute May, Must+ and Must- abstract transition relations. Proof techniques are used to compute these transition relations. The tests obtained by covering the abstract transitions have to be instantiated from the source model. So, following Pasareanu et al., our algorithm additionally computes a concrete transition relation: the tests obtained as sequences of concrete transitions need not be instantiated from the source model. Another contribution is to propose a choice of relevant parameters and heuristics to pilot the tests computation. We experiment our approach and compare it with a previous approach of ours to compute tests from an abstraction that over-approximates the source model.