@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}, }