Bart van den Broek Wim Wiegerinck Bert Kappen Graphical Model Inference in Optimal Control of Stochastic Multi-Agent Systems. 95-122 2008 32 J. Artif. Intell. Res. (JAIR) http://jair.org/papers/paper2473.html db/journals/jair/jair32.html#BroekWK08