@article{Brunskill10AMAI,
   author = {Emma Brunskill and Leslie Kaelbling and Tom\'as Lozano-P\'erez and Nicholas Roy},
   title = {Planning in partially-observable switching-mode continuous domains},
   journal = {Annals of Mathematics and Artificial Intelligence},
   publisher = {Springer Netherlands},
   pages = {1-32},
   year = {2010}
}