Structured Concurrent Programming  Dec. 2014
Draft of a book on structuring concurrent programs using the Orc programming language.

Theory in Programming Practice  July 2004
A book that contains the modules taught in CS 337.

A Discipline of Multiprogramming, Springer-Verlag, 2001. Some of the chapters are here.

Parallel Program Design: A Foundation, K. Mani Chandy and Jayadev Misra,
Addison-Wesley, 1988.