Masashi Sugiyama Hirotaka Hachiya Christopher Towell Sethu Vijayakumar Geodesic Gaussian kernels for value function approximation. 287-304 2008 25 Auton. Robots 3 http://dx.doi.org/10.1007/s10514-008-9095-6 db/journals/arobots/arobots25.html#SugiyamaHTV08