Daniel S. Bernstein Christopher Amato Eric A. Hansen Shlomo Zilberstein Policy Iteration for Decentralized Control of Markov Decision Processes. 89-132 2009 34 J. Artif. Intell. Res. (JAIR) http://jair.org/papers/paper2667.html db/journals/jair/jair34.html#BernsteinAHZ09