@article{specificationminingandautomatedtask,
  title = {Specification mining and automated task planning for autonomous robots based on a graph-based spatial temporal logic},
  author = {Zhiyu Liu and Meng Jiang and Hai Lin},
  year = {2020},
  eprint = {2007.08451},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2007.08451v1},
}