Samuel Prentice, Nicholas Roy. The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance. I. J. Robotic Res., 28(11-12):1448-1465, 2009. [doi]
@article{PrenticeR09,
title = {The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance},
author = {Samuel Prentice and Nicholas Roy},
year = {2009},
doi = {10.1177/0278364909341659},
url = {https://doi.org/10.1177/0278364909341659},
researchr = {https://researchr.org/publication/PrenticeR09},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {28},
number = {11-12},
pages = {1448-1465},
}