@inproceedings{lacerda_iros14,
  author = {Bruno Lacerda and David Parker and Nick Hawes},
  title={Optimal and Dynamic Planning for {M}arkov Decision Processes with Co-Safe {LTL} Specifications},
  booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2014},
  month = {September, 14--18},
  address = {Chicago, Illinois, USA},
}