@article{JMLR:v7:porta06a,
  author  = {Josep M. Porta and Nikos Vlassis and Matthijs T.J. Spaan and Pascal Poupart},
  title   = {Point-Based Value Iteration for Continuous POMDPs},
  journal = {Journal of Machine Learning Research},
  year    = {2006},
  volume  = {7},
  number  = {83},
  pages   = {2329--2367},
  url     = {http://jmlr.org/papers/v7/porta06a.html}
}