@incollection {NIPS2003_CN02,
  author = " Joelle Pineau and  Geoffrey J. Gordon and  Sebastian Thrun",
  title = " Applying Metric-Trees to Belief-Point POMDPs",
  booktitle = "Advances in Neural Information Processing Systems 16",
  editor = "Sebastian Thrun and Lawrence Saul and Bernhard {Sch\"{o}lkopf}",
  publisher = "MIT Press",
  address = "Cambridge, MA",
  year = "2004",
  keywords = "POMDP, planning, value functions, metric trees",
  }