@inproceedings{Lahijanian:AAAI:2015,
  title = {This Time the Robot Settles for a Cost: A Quantitative Approach to Temporal Logic Planning with Partial Satisfaction},
  booktitle = {Proceedings of the Twenty-Ninth {AAAI} Conference on Artificial Intelligence},
  year = {2015},
  month = {Jan.},
  publisher = {{AAAI} Press},
  pages = {3664--3671},
  address = {Austin, TX},
  author = {Morteza Lahijanian and Shaull Almagor and Dror Fried and Lydia E. Kavraki and Moshe Y. Vardi},
  url = {http://www.aaai.org/ocs/index.php/AAAI/AAAI15/paper/view/10001},
}