@Article{Prentice09IJRR,
  author = 	 {S. Prentice and N. Roy},
  title = 	 {The Belief Roadmap: Efficient Planning in Belief Space by Factoring the Covariance},
  journal = 	 {International Journal of Robotics Research},
  year = 	 {2009},
  volume =	 {8},
  number =	 {11-12},
  pages =	 {1448-1465},
  month =	 {December},
}