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Leslie Pack Kaelbling Michael L. Littman Anthony R. Cassandra Planning and Acting in Partially Observable Stochastic Domains. 99-134 1998 101 Artif. Intell. 1-2 db/journals/ai/ai101.html#KaelblingLC98 http://dx.doi.org/10.1016/S0004-3702(98)00023-X