Satinder P. Singh Andrew G. Barto Roderic A. Grupen Christopher I. Connolly Robust Reinforcement Learning in Motion Planning. 655-662 http://nips.djvuzone.org/djvu/nips06/0655.djvu 1993 conf/nips/1993 NIPS db/conf/nips/nips1993.html#SinghBGC93