Carlos Rossi Manuel Enciso Angel Mora A First Order Temporal Logic for Behavior Representation. 408-418 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3315&spage=408 2004 conf/iberamia/2004 IBERAMIA db/conf/iberamia/iberamia2004.html#RossiEM04