@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}, }