@InProceedings{LIS149,
title = {Non-Gaussian Belief Space Planning: Correctness and Complexity},
author = {Robert Platt and Leslie Kaelbling and Tomas Lozano-Perez and Russ Tedrake},
year = {2012},
url = {http://lis.csail.mit.edu/pubs/tlp/ICRA12_1775_FI.pdf},
booktitle = {IEEE Conference on Robotics and Automation (ICRA)},
}