@InProceedings{Prentice07ISRR,
  author = 	 {Sam Prentice and Nicholas Roy},
  title = 	 {The Belief Roadmap: Efficient Planning in Linear POMDPs by
  Factoring the Covariance},
  booktitle =	 {Proceedings of the 13th International Symposium of Robotics
  Research (ISRR)},
  year =	 {2007},
  address =	 {Hiroshima, Japan},
  month =	 {November},
}