@article{structuredreachabilityanalysisformarkov,
  title = {Structured Reachability Analysis for Markov Decision Processes},
  author = {Craig Boutilier and Ronen I. Brafman and Christopher W. Geib},
  year = {2013},
  eprint = {1301.7361},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1301.7361v2},
}