@Article{Roy05JAIR,
  author = 	 {Nicholas Roy and Geoffrey Gordon and Sebastian Thrun},
  title = 	 {Finding Approximate POMDP solutions Through
                  Belief Compression},
  journal = 	 {Journal of Artificial Intelligence Research},
  year = 	 {2005},
  volume =	 {23},
  pages =	 {1-40},
}