Yaxin Liu Sven Koenig Risk-Sensitive Planning with One-Switch Utility Functions: Value Iteration. 993-999 2005 conf/aaai/2005 AAAI db/conf/aaai/aaai2005.html#LiuK05 http://www.aaai.org/Library/AAAI/2005/aaai05-157.php