Robert Platt Leslie Pack Kaelbling Tomás Lozano-Pérez Russ Tedrake Non-Gaussian belief space planning: Correctness and complexity. 4711-4717 2012 ICRA http://dx.doi.org/10.1109/ICRA.2012.6225223 conf/icra/2012 db/conf/icra/icra2012.html#PlattKLT12