Probabilistic inference for solving (PO) MDPs. Toussaint, M.; Harmeling, S.; and A.J.Storkey Technical Report 934, School of Informatics, University of Edinburgh, December 2006.
bibtex   
@TECHREPORT{toussaint_storkey_inference_pomdp_tech,
  author = {M. Toussaint and S. Harmeling and A.J.Storkey},
  title = {Probabilistic inference for solving {(PO) MDP}s},
  institution = {School of Informatics, University of Edinburgh},
  year = {December 2006},
  number = {934},
  owner = {amos},
  timestamp = {2011.10.10}
}
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