Solving Factored MDPs with Continuous and Discrete Variables. Guestrin, C., Hauskrecht, M., & Kveton, B. In Proceedings of the Twentieth Conference on Uncertainty in Artificial Intelligence (UAI-04), pages 235–242, Banff, AL, 2004.
bibtex   
@inproceedings{guestrin:uai04,
	Address = {Banff, AL},
	Author = {Carlos Guestrin and Milos Hauskrecht and Branislav Kveton},
	Booktitle = {Proceedings of the Twentieth Conference on Uncertainty in Artificial Intelligence (UAI-04)},
	Pages = {235--242},
	Title = {Solving Factored MDPs with Continuous and Discrete Variables},
	Year = {2004}}
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