@article{cai2020learning,
  title={Learning-based probabilistic LTL motion planning with environment and motion uncertainties},
  author={Cai, Mingyu and Peng, Hao and Li, Zhijun and Kan, Zhen},
  journal={IEEE Transactions on Automatic Control},
  volume={66},
  number={5},
  pages={2386--2392},
  year={2020},
  publisher={IEEE}
}