@Article{LFPH19,
author={B. Lacerda and F. Faruq and D. Parker and N. Hawes},
title={Probabilistic planning with formal performance guarantees for mobile service robots},
journal={International Journal of Robotics Research},
year={2019},

volume={38},
number={19},
pages={1098–1123},
publisher={},
month={},
note={},
key={}
}