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Zielonka's theorem shows that each regular set of Mazurkiewicz traces can be implemented as a system of synchronized processes provided with some distributed control structure called an asynchronous automaton. This paper gives a new algorithm for the synthesis of a non-deterministic asynchronous automaton from a regular Mazurkiewicz trace language. Our approach is based on an unfolding procedure that improves the complexity of Zielonka's and Pighizzini's techniques: Our construction is polynomial in terms of the number of states but still double-exponential in the size of the alphabet. As opposed to Métivier's work, our algorithm does not restrict to acyclic dependence alphabets.