@incollection{OKaTov+06,
  author = {Jason M. O'Kane and Benjamin Tovar and Peng Cheng and Steven
            M. LaValle},
  booktitle = {Autonomous Mobile Robots: Sensing, Control, Decision-Making,
               and Applications},
  chapter = {13},
  editor = {S. S. Ge and F. L. Lewis},
  pages = {501--547},
  publisher = {Marcel Dekker},
  series = {Series in Control Engineering},
  title = {Algorithms for planning under uncertainty in prediction and
           sensing},
  year = {2006}
}