@incollection {NIPS2003_CN05,
  author = " Natalia H. Gardiol and  Leslie Pack Kaelbling",
  title = " Envelope-based Planning in Relational MDPs",
  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 = "TGraphplan, envelope methods, Markov decision processes, anytime planning, probabilistic rules, relational models, relational MDPs",
  }