@incollection {NIPS2003_CN04,
  author = " Georgios Theocharous and  Leslie Pack Kaelbling",
  title = " Approximate Planning in POMDPs with Macro-Actions",
  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 = "partially observable Markov decision processes, planning, robot navigation, temporal abstraction, reinforcement learning",
  }