@INPROCEEDINGS{Lahijanian:ACC:2011,
  title={Control of {M}arkov decision processes from {PCTL} specifications},
  author={Lahijanian, M and Andersson, SB and Belta, C},
  booktitle={Proceedings of the 2011 American Control Conference},
  pages={311--316},
  year={2011},
  publisher = {IEEE},
  address =   {San Francisco, USA},
  DOI= {10.1109/ACC.2011.5990952},  
}