@Article{He11JAIR,
  author = 	 {R. He and E. Brunskill and N. Roy},
  title = 	 {Efficient Planning under Uncertainty with Macro-actions},
  journal = 	 {Journal of Artificial Intelligence Research},
  year = 	 {2011},
  volume =       {40},
  pages =        {523-570},
  month =        {February}
}