@article{Phiquepal2022RAL,
  title={Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs},
  author={Phiquepal, Camille and Orthey, Andreas and Viennot, Nicolas and Toussaint, Marc},
  journal={IEEE Robotics and Automation Letters},
  year={2022},
  pdf={https://arxiv.org/pdf/2204.04444.pdf}
}