Reference. Planning and acting in partially observable stochastic domains [kaelbling1998planning]

@article{kaelbling1998planning,
  title = {Planning and Acting in Partially Observable Stochastic Domains},
  author = {Kaelbling, Leslie Pack and Littman, Michael L. and Cassandra, Anthony R.},
  journal = {Artificial Intelligence},
  volume = {101},
  number = {1--2},
  pages = {99--134},
  year = {1998},
  doi = {10.1016/S0004-3702(98)00023-X}
}