@Article{Ali14-IJRR,
  Title                    = {{FIRM}: Sampling-based Feedback Motion Planning Under Motion Uncertainty and Imperfect Measurements},
  Author                   = {{Agha-mohammadi}, {Ali-akbar} and Chakravorty, Suman and Amato, Nancy},
  Journal                  = {International Journal of Robotics Research (IJRR)},
  Year                     = {2014},
  Number                   = {2},
  Pages                    = {268--304},
  Volume                   = {33},
  Publisher                = {SAGE journals}
}

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