De Alfaro L, Henzinger TA, Kupferman O. 1998. Concurrent reachability games.  Proceedings 39th Annual Symposium on Foundations of Computer Science. FOCS: Foundations of Computer Science, 564–575.
LibreCat: https://research-explorer.ista.ac.at/record/4639
DOI: 10.1109/SFCS.1998.743507