@article{JMLR:v7:jonsson06a,
  author  = {Anders Jonsson and Andrew Barto},
  title   = {Causal Graph Based Decomposition of Factored MDPs},
  journal = {Journal of Machine Learning Research},
  year    = {2006},
  volume  = {7},
  number  = {81},
  pages   = {2259--2301},
  url     = {http://jmlr.org/papers/v7/jonsson06a.html}
}